com.yobotics.simulationconstructionset.util
Class LinearGroundContactModel

java.lang.Object
  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)

LinearGroundContactModel(Robot rob, double k_xy, double b_xy, double k_z, double b_z)

LinearGroundContactModel(Robot rob, YoVariable k_xy, YoVariable b_xy, YoVariable k_z, YoVariable b_z)

Method Summary

void	doGroundContact()
GroundProfile	getGroundProfile()
void	setGroundProfile(GroundProfile profile)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LinearGroundContactModel

public LinearGroundContactModel(Robot rob)

LinearGroundContactModel

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

LinearGroundContactModel

public LinearGroundContactModel(Robot rob,
                                YoVariable k_xy,
                                YoVariable b_xy,
                                YoVariable k_z,
                                YoVariable b_z)

Method Detail

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