private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
GroundContactPointsHolder pointsHolder = createGroundContactPointsHolder(groundContactPoint); LinearStickSlipGroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(pointsHolder, registry); groundContactModel.disableSlipping(); groundContactPoint.setVelocity(velocity); groundContactModel.enableSurfaceNormal(); groundContactModel.doGroundContact(); groundContactModel.disableSurfaceNormal(); groundContactModel.doGroundContact(); groundContactModel.enableSurfaceNormal(); groundContactModel.doGroundContact(); assertTrue(groundContactPoint.isInContact()); groundContactPoint.getForce(force); groundContactModel.disableSurfaceNormal(); groundContactModel.doGroundContact(); assertTrue(groundContactPoint.isInContact()); groundContactPoint.getForce(forceWithNormalsDisabled); groundContactModel.enableSurfaceNormal(); groundContactModel.doGroundContact(); assertFalse(groundContactPoint.isInContact()); groundContactPoint.getForce(force);
GroundContactPointsHolder pointsHolderOnSlope = createGroundContactPointsHolder(groundContactPointOnSlope); LinearStickSlipGroundContactModel groundContactModelOnFlat = new LinearStickSlipGroundContactModel(pointsHolderOnFlat, registryOnFlat); groundContactModelOnFlat.enableSlipping(); LinearStickSlipGroundContactModel groundContactModelOnSlope = new LinearStickSlipGroundContactModel(pointsHolderOnSlope, registryOnSlope); groundContactModelOnSlope.enableSlipping(); groundContactModelOnFlat.setGroundProfile3D(flatGroundProfile); groundContactModelOnSlope.setGroundProfile3D(slopedGroundProfile); groundContactModelOnFlat.doGroundContact(); Vector3D forceOnFlat = new Vector3D(); groundContactPointOnFlat.getForce(forceOnFlat); groundContactModelOnSlope.doGroundContact();
LinearStickSlipGroundContactModel groundModel = new LinearStickSlipGroundContactModel(robot, robot.getRobotsYoVariableRegistry()); groundModel.setGroundProfile3D(groundProfile);
GroundContactPointsHolder pointsHolder = createGroundContactPointsHolder(groundContactPoint); LinearStickSlipGroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(pointsHolder, registry); groundContactModel.disableSlipping(); groundContactPoint.setVelocity(velocity); groundContactModel.enableSurfaceNormal(); groundContactModel.doGroundContact();
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 40000.0; double bXY = 10.0; double kZ = 80.0; double bZ = 500.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; } }
newBox.setController(controller); GroundContactModel linearGroundModel = new LinearStickSlipGroundContactModel(newBox, 40000.0, 10.0, 80.0, 500.0, 1.2, 1.2, GroundContactModel linearGroundModel = new LinearStickSlipGroundContactModel(newBox, 40000.0, 10.0, 80.0, 500.0, 1.2, 1.2, newBox.setController(controller); GroundContactModel linearGroundModel = new LinearStickSlipGroundContactModel(newBox, 40000.0, 10.0, 80.0, 500.0, 1.2, 1.2,