com.yobotics.simulationconstructionset.util
Class LinearStickSlipGroundContactModel

java.lang.Object
  com.yobotics.simulationconstructionset.util.LinearStickSlipGroundContactModel

All Implemented Interfaces:

GroundContactModel, java.io.Serializable

public class LinearStickSlipGroundContactModel
extends java.lang.Object
implements GroundContactModel

See Also:

Serialized Form

Constructor Summary

LinearStickSlipGroundContactModel(Robot rob)

LinearStickSlipGroundContactModel(Robot rob, double alpha_slip, double alpha_stick)

LinearStickSlipGroundContactModel(Robot rob, double k_xy, double b_xy, double k_z, double b_z, double alpha_slip, double alpha_stick)

LinearStickSlipGroundContactModel(Robot rob, YoVariable k_xy, YoVariable b_xy, YoVariable k_z, YoVariable b_z, YoVariable alpha_slip, YoVariable alpha_stick)

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

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob,
                                         double alpha_slip,
                                         double alpha_stick)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob,
                                         double k_xy,
                                         double b_xy,
                                         double k_z,
                                         double b_z,
                                         double alpha_slip,
                                         double alpha_stick)

LinearStickSlipGroundContactModel

public LinearStickSlipGroundContactModel(Robot rob,
                                         YoVariable k_xy,
                                         YoVariable b_xy,
                                         YoVariable k_z,
                                         YoVariable b_z,
                                         YoVariable alpha_slip,
                                         YoVariable alpha_stick)

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