com.yobotics.simulationconstructionset.util.environments
Class ContactableRobot

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Robot
      extended by com.yobotics.simulationconstructionset.util.environments.ContactableRobot
All Implemented Interfaces:
Contactable, YoVariableHolder, java.io.Serializable
Direct Known Subclasses:
ContactableSelectableBoxRobot, ContactableSphereRobot

public abstract class ContactableRobot
extends Robot
implements Contactable

See Also:
Serialized Form

Constructor Summary
ContactableRobot(java.lang.String name)
           
 
Method Summary
 void createAvailableContactPoints(int groupIdentifier, int totalContactPointsAvailable, double forceVectorScale, boolean addDynamicGraphicForceVectorsForceVectors)
           
 int getAndLockAvailableContactPoint()
           
 void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)
           
abstract  FloatingJoint getFloatingJoint()
           
 GroundContactPoint getLockedContactPoint(int contactPointIndex)
           
 void getPosition(javax.vecmath.Tuple3d positionToPack)
           
 void getVelocity(javax.vecmath.Tuple3d velocityToPack)
           
 void setAngularVelocityInBody(javax.vecmath.Vector3d velocity)
           
abstract  void setMass(double mass)
           
abstract  void setMomentOfInertia(double Ixx, double Iyy, double Izz)
           
 void setPosition(double[] position)
           
 void setPosition(double x, double y, double z)
           
 void setPosition(javax.vecmath.Tuple3d position)
           
 void setPositionAndVelocity(double x, double y, double z, double dx, double dy, double dz)
           
 void setPositionAndVelocity(javax.vecmath.Point3d position, javax.vecmath.Vector3d velocity)
           
 void setVelocity(double xd, double yd, double zd)
           
 void setVelocity(javax.vecmath.Tuple3d velocity)
           
 void unlockContactPoint(GroundContactPoint groundContactPoint)
           
 void updateContactPoints()
           
 
Methods inherited from class com.yobotics.simulationconstructionset.Robot
addDynamicGraphicObjectsListRegistry, addFunctionToIntegrate, addRootJoint, addStaticLink, addStaticLinkGraphics, addStaticLinkGraphics, addYoVariableRegistry, computeAngularMomentum, computeAngularMomentum, computeCenterOfMass, computeCenterOfMass, computeCenterOfPressure, computeCOMMomentum, computeCOMMomentum, computeGravitationalPotentialEnergy, computeGravitationalPotentialEnergy, computeLinearMomentum, computeLinearMomentum, computeRotationalKineticEnergy, computeRotationalKineticEnergy, computeTranslationalKineticEnergy, computeTranslationalKineticEnergy, createAllVarLists, decideGroundContactPointsInContact, doAfterControlBeforeDynamics, doDynamicsAndIntegrate, doDynamicsButDoNotIntegrate, getAllExternalForcePoints, getAllGroundContactPoints, getAllKinematicPoints, getAllOneDegreeOfFreedomJoints, getAllVariables, getAllVariablesArray, getCameraMountList, getControllers, getGravity, getGravityX, getGravityY, getGravityZ, getGroundContactModel, getGroundContactPoints, getIMUMounts, getName, getRobotsYoVariableRegistry, getRootJoints, getSensors, getSensors, getSimulationRewoundListeners, getStaticLinkGraphics, getTime, getVariable, getVariable, getVariables, getVariables, getVariables, getYoTime, hasUniqueVariable, hasUniqueVariable, setBodyExternalForcePoint, setController, setController, setController, setControllersAndCallInitialization, setDynamic, setDynamicIntegrationMethod, setGravity, setGravity, setGravity, setGroundContactModel, setTime, toString, update, updateAllGroundContactPointVelocities, updateForPlayback, updateVelocities
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 
Methods inherited from interface com.yobotics.simulationconstructionset.util.ground.Contactable
closestIntersectionAndNormalAt, isClose, isPointOnOrInside
 

Constructor Detail

ContactableRobot

public ContactableRobot(java.lang.String name)
Method Detail

getFloatingJoint

public abstract FloatingJoint getFloatingJoint()

setMass

public abstract void setMass(double mass)

setMomentOfInertia

public abstract void setMomentOfInertia(double Ixx,
                                        double Iyy,
                                        double Izz)

createAvailableContactPoints

public void createAvailableContactPoints(int groupIdentifier,
                                         int totalContactPointsAvailable,
                                         double forceVectorScale,
                                         boolean addDynamicGraphicForceVectorsForceVectors)

getAndLockAvailableContactPoint

public int getAndLockAvailableContactPoint()
Specified by:
getAndLockAvailableContactPoint in interface Contactable

unlockContactPoint

public void unlockContactPoint(GroundContactPoint groundContactPoint)
Specified by:
unlockContactPoint in interface Contactable

getLockedContactPoint

public GroundContactPoint getLockedContactPoint(int contactPointIndex)
Specified by:
getLockedContactPoint in interface Contactable

updateContactPoints

public void updateContactPoints()
Specified by:
updateContactPoints in interface Contactable

setPosition

public void setPosition(double x,
                        double y,
                        double z)

setPosition

public void setPosition(double[] position)

setPosition

public void setPosition(javax.vecmath.Tuple3d position)

setVelocity

public void setVelocity(double xd,
                        double yd,
                        double zd)

setVelocity

public void setVelocity(javax.vecmath.Tuple3d velocity)

setPositionAndVelocity

public void setPositionAndVelocity(double x,
                                   double y,
                                   double z,
                                   double dx,
                                   double dy,
                                   double dz)

setPositionAndVelocity

public void setPositionAndVelocity(javax.vecmath.Point3d position,
                                   javax.vecmath.Vector3d velocity)

setAngularVelocityInBody

public void setAngularVelocityInBody(javax.vecmath.Vector3d velocity)

getBodyTransformToWorld

public void getBodyTransformToWorld(javax.media.j3d.Transform3D transformToWorld)

getVelocity

public void getVelocity(javax.vecmath.Tuple3d velocityToPack)

getPosition

public void getPosition(javax.vecmath.Tuple3d positionToPack)