com.yobotics.simulationconstructionset.util
Class LinearGroundContactModel

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.LinearGroundContactModel
All Implemented Interfaces:
GroundContactModel, java.io.Serializable

public class LinearGroundContactModel
extends java.lang.Object
implements GroundContactModel

See Also:
Serialized Form

Constructor Summary
LinearGroundContactModel(Robot rob, double k_xy, double b_xy, double k_z, double b_z, YoVariableRegistry parentRegistry)
           
LinearGroundContactModel(Robot rob, int groundContactGroupIdentifier, double k_xy, double b_xy, double k_z, double b_z, YoVariableRegistry parentRegistry)
           
LinearGroundContactModel(Robot rob, int groundContactGroupIdentifier, DoubleYoVariable k_xy, DoubleYoVariable b_xy, DoubleYoVariable k_z, DoubleYoVariable b_z, YoVariableRegistry parentRegistry)
           
LinearGroundContactModel(Robot rob, YoVariableRegistry parentRegistry)
           
 
Method Summary
 void doGroundContact()
           
 GroundProfile getGroundProfile()
           
 void setGroundProfile(GroundProfile profile)
           
 void setXYDamping(double xyDamping)
           
 void setXYStiffness(double xyStiffness)
           
 void setZDamping(double zDamping)
           
 void setZStiffness(double zStiffness)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

LinearGroundContactModel

public LinearGroundContactModel(Robot rob,
                                YoVariableRegistry parentRegistry)

LinearGroundContactModel

public LinearGroundContactModel(Robot rob,
                                double k_xy,
                                double b_xy,
                                double k_z,
                                double b_z,
                                YoVariableRegistry parentRegistry)

LinearGroundContactModel

public LinearGroundContactModel(Robot rob,
                                int groundContactGroupIdentifier,
                                double k_xy,
                                double b_xy,
                                double k_z,
                                double b_z,
                                YoVariableRegistry parentRegistry)

LinearGroundContactModel

public LinearGroundContactModel(Robot rob,
                                int groundContactGroupIdentifier,
                                DoubleYoVariable k_xy,
                                DoubleYoVariable b_xy,
                                DoubleYoVariable k_z,
                                DoubleYoVariable b_z,
                                YoVariableRegistry parentRegistry)
Method Detail

setXYStiffness

public void setXYStiffness(double xyStiffness)

setZStiffness

public void setZStiffness(double zStiffness)

setXYDamping

public void setXYDamping(double xyDamping)

setZDamping

public void setZDamping(double zDamping)

setGroundProfile

public void setGroundProfile(GroundProfile profile)
Specified by:
setGroundProfile in interface GroundContactModel

getGroundProfile

public GroundProfile getGroundProfile()
Specified by:
getGroundProfile in interface GroundContactModel

doGroundContact

public void doGroundContact()
Specified by:
doGroundContact in interface GroundContactModel