com.yobotics.simulationconstructionset
Class GroundContactPoint

java.lang.Object
  extended by com.yobotics.simulationconstructionset.KinematicPoint
      extended by com.yobotics.simulationconstructionset.ExternalForcePoint
          extended by com.yobotics.simulationconstructionset.GroundContactPoint
All Implemented Interfaces:
java.io.Serializable
Direct Known Subclasses:
TrackGroundContactPoint

public class GroundContactPoint
extends ExternalForcePoint

See Also:
Serialized Form

Field Summary
 DoubleYoVariable coll
           
 DoubleYoVariable fs
           
 DoubleYoVariable tdx
           
 DoubleYoVariable tdy
           
 DoubleYoVariable tdz
           
 
Fields inherited from class com.yobotics.simulationconstructionset.ExternalForcePoint
fx, fy, fz, px, py, pz
 
Fields inherited from class com.yobotics.simulationconstructionset.KinematicPoint
dx, dy, dz, x, y, z
 
Constructor Summary
GroundContactPoint(java.lang.String name, Robot rob)
           
GroundContactPoint(java.lang.String name, javax.vecmath.Vector3d offset, Robot rob)
           
 
Method Summary
 boolean isInContact()
           
 boolean isSlipping()
           
 void setIsInContact(boolean isInContact)
           
 void setIsSlipping(boolean isSlipping)
           
 void setTouchdownLocationInWorld(javax.vecmath.Point3d contactPointInWorld)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.ExternalForcePoint
getForce, getYoForce, resolveCollision, resolveCollision, resolveMicroCollision, setForce, setForce, toString
 
Methods inherited from class com.yobotics.simulationconstructionset.KinematicPoint
getKinematicPointUpdater, getName, getOffset, getOffsetCopy, getParentJoint, getPosition, getPositionPoint, getVelocity, getVelocityVector, getYoPosition, getYoVelocity, setKinematicPointUpdater, setOffsetJoint, setOffsetJoint, setOffsetWorld, setOffsetWorld, setParentJoint
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

tdx

public DoubleYoVariable tdx

tdy

public DoubleYoVariable tdy

tdz

public DoubleYoVariable tdz

fs

public DoubleYoVariable fs

coll

public DoubleYoVariable coll
Constructor Detail

GroundContactPoint

public GroundContactPoint(java.lang.String name,
                          Robot rob)

GroundContactPoint

public GroundContactPoint(java.lang.String name,
                          javax.vecmath.Vector3d offset,
                          Robot rob)
Method Detail

setTouchdownLocationInWorld

public void setTouchdownLocationInWorld(javax.vecmath.Point3d contactPointInWorld)

isSlipping

public boolean isSlipping()

isInContact

public boolean isInContact()

setIsSlipping

public void setIsSlipping(boolean isSlipping)

setIsInContact

public void setIsInContact(boolean isInContact)