com.yobotics.simulationconstructionset.util.tracks
Class Track

java.lang.Object
  com.yobotics.simulationconstructionset.util.tracks.Track

All Implemented Interfaces:

FunctionToIntegrate

public class Track
extends java.lang.Object
implements FunctionToIntegrate

Constructor Summary

Track(java.lang.String name, Joint joint, Robot rob, javax.vecmath.Vector3d offset, javax.vecmath.Matrix3d rotation, double trackLength, double trackRadius, double trackWidth, int numPointsPerTread, int numTreads)

Method Summary

void	addTrackGraphics(Link link, javax.media.j3d.Appearance appearance)
double[]	computeDerivativeVector()
YoVariable	getLinearForce()
YoVariable	getLinearPosition()
YoVariable	getLinearVelocity()
java.lang.String	getName()
YoVariable[]	getOutputVariables()
java.util.ArrayList	getTrackGroundContactPoints()
int	getVectorSize()

Methods inherited from class java.lang.Object

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

Constructor Detail

Track

public Track(java.lang.String name,
             Joint joint,
             Robot rob,
             javax.vecmath.Vector3d offset,
             javax.vecmath.Matrix3d rotation,
             double trackLength,
             double trackRadius,
             double trackWidth,
             int numPointsPerTread,
             int numTreads)

Method Detail

getName

public java.lang.String getName()

getLinearVelocity

public YoVariable getLinearVelocity()

getLinearPosition

public YoVariable getLinearPosition()

getLinearForce

public YoVariable getLinearForce()

addTrackGraphics

public void addTrackGraphics(Link link,
                             javax.media.j3d.Appearance appearance)

computeDerivativeVector

public double[] computeDerivativeVector()

Specified by:

computeDerivativeVector in interface FunctionToIntegrate

getVectorSize

public int getVectorSize()

Specified by:

getVectorSize in interface FunctionToIntegrate

getOutputVariables

public YoVariable[] getOutputVariables()

Specified by:

getOutputVariables in interface FunctionToIntegrate

getTrackGroundContactPoints

public java.util.ArrayList getTrackGroundContactPoints()