ExternalForcePoint and GroundContactPoint constructors and methods
Creates an external force point, automatically creating the variables name_(x,y,z,dx,dy,dz) and adding them to the given Robot. offset is the Vector3d from the parent joint.
ExternalForcePoint(String name, Vector3d offset, Robot rob)
YoVariables for the cartesian position, and velocity of the kinematic point. These values are automatically computed by the simulation.
public YoVariable x, y, z;
public YoVariable dx, dy, dz;
Creates an external force point, which is an extension of a kinematic point. In addition to the kinematic point variables, name_(fx,fy,fz) are automatically generated and added to the Robot.
ExternalForcePoint(String name, Vector3d offset, Robot rob)
YoVariables for the force on the external force point. Force is input by the user, or automatically computed from another object such as a GroundContacModel.
public YoVariable fx, fy, fz;
Creates a ground contact point, which is an extension of an external force point. In addition to the external force point variables, name_(tdx,tdy,tdz,fs) are automatically generated and added to the Robot.
GroundContactPoint(String name, Vector3d offset, Robot rob)
public YoVariable tdx, tdy, tdz;
Touch-down position and footswitch. fs.val = 1.0 during foot contact and 0.0 otherwise. To turn the ground contact point off, set fs.val to -1.0.
public YoVariable fs;