com.yobotics.simulationconstructionset.util.environments
Class ContactableRobot
java.lang.Object
com.yobotics.simulationconstructionset.Robot
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
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 |
ContactableRobot
public ContactableRobot(java.lang.String name)
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)