com.yobotics.simulationconstructionset
Class ExternalForcePoint

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

public class ExternalForcePoint
extends KinematicPoint

See Also:
Serialized Form

Field Summary
 DoubleYoVariable fx
           
 DoubleYoVariable fy
           
 DoubleYoVariable fz
           
 DoubleYoVariable px
           
 DoubleYoVariable py
           
 DoubleYoVariable pz
           
 
Fields inherited from class com.yobotics.simulationconstructionset.KinematicPoint
dx, dy, dz, x, y, z
 
Constructor Summary
ExternalForcePoint(java.lang.String name, Robot rob)
           
ExternalForcePoint(java.lang.String name, javax.vecmath.Vector3d offset, Robot rob)
           
 
Method Summary
 void getForce(javax.vecmath.Vector3d vectorToPack)
           
 YoFrameVector getYoForce()
           
 void resolveCollision(ExternalForcePoint externalForcePoint, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
           
 void resolveCollision(javax.vecmath.Vector3d vel_world, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
           
 void resolveMicroCollision(double penetration_squared, javax.vecmath.Vector3d vel_world, javax.vecmath.Vector3d normal_world, double epsilon, double mu, javax.vecmath.Vector3d p_world)
           
 void setForce(double fx, double fy, double fz)
           
 void setForce(javax.vecmath.Vector3d force)
           
 java.lang.String 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

fx

public DoubleYoVariable fx

fy

public DoubleYoVariable fy

fz

public DoubleYoVariable fz

px

public DoubleYoVariable px

py

public DoubleYoVariable py

pz

public DoubleYoVariable pz
Constructor Detail

ExternalForcePoint

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

ExternalForcePoint

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

toString

public java.lang.String toString()
Overrides:
toString in class KinematicPoint

resolveCollision

public void resolveCollision(ExternalForcePoint externalForcePoint,
                             javax.vecmath.Vector3d normal_world,
                             double epsilon,
                             double mu,
                             javax.vecmath.Vector3d p_world)

resolveCollision

public void resolveCollision(javax.vecmath.Vector3d vel_world,
                             javax.vecmath.Vector3d normal_world,
                             double epsilon,
                             double mu,
                             javax.vecmath.Vector3d p_world)

resolveMicroCollision

public void resolveMicroCollision(double penetration_squared,
                                  javax.vecmath.Vector3d vel_world,
                                  javax.vecmath.Vector3d normal_world,
                                  double epsilon,
                                  double mu,
                                  javax.vecmath.Vector3d p_world)

getForce

public void getForce(javax.vecmath.Vector3d vectorToPack)

setForce

public void setForce(javax.vecmath.Vector3d force)

setForce

public void setForce(double fx,
                     double fy,
                     double fz)

getYoForce

public YoFrameVector getYoForce()