com.yobotics.simulationconstructionset.util.environments
Class ContactablePinJointRobot

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

public abstract class ContactablePinJointRobot
extends Robot
implements Contactable

See Also:
Serialized Form

Constructor Summary
ContactablePinJointRobot(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)
           
 GroundContactPoint getLockedContactPoint(int contactPointIndex)
           
abstract  PinJoint getPinJoint()
           
 double getPosition()
           
 double getVelocity()
           
abstract  void setMass(double mass)
           
abstract  void setMomentOfInertia(double Ixx, double Iyy, double Izz)
           
 void setPosition(double angle)
           
 void setPositionAndVelocity(double angle, double angleDerivative)
           
 void setVelocity(double angleDerivative)
           
 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

ContactablePinJointRobot

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

getPinJoint

public abstract PinJoint getPinJoint()

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 angle)

setVelocity

public void setVelocity(double angleDerivative)

setPositionAndVelocity

public void setPositionAndVelocity(double angle,
                                   double angleDerivative)

getBodyTransformToWorld

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

getVelocity

public double getVelocity()

getPosition

public double getPosition()