Simulation Construction Set

Simulation Construction Set

  • IHMC Home
  • All IHMC Docs
  • About IHMC

›Kinematic, ExternalForce, and GroundContactPoint API

SCS API

  • Summary
  • Constructors
  • Simulation Parameters
  • Create the World
  • Simulate methods
  • Data Import Export Methods
  • Camera Methods
  • Adding to the GUI

Link and LinkGraphicsDescription API

  • Summary
  • Link constructor and methods
  • LinkGraphicsDescription constructor and methods
  • Adding shapes
  • YoAppearance helper API

Robot and Joint API

  • Summary
  • Robot
  • Robot Constructor and Methods
  • Joint Constructor and methods
  • General Joint Methods

Kinematic, ExternalForce, and GroundContactPoint API

  • Summary
  • Introduction to special points
  • ExternalForcePoint and GroundContactPoint constructors and methods
  • GroundContactModel interface
  • GroundProfile Interface

GroundContactModel interface

The forces applied to a GroundContactPoint are determined by the GroundContactModel which is set for the Robot.

GroundContactModel is an interface with the required methods doGroundContact, setGroundProfile, and getGroundProfile. The code for implementing your ground contact model should be placed in doGroundContact. There are also a couple GroundContactModels that are in the com.yobotics.simulationconstructionset.utils package. A GroundProfile defines the contour of your terrain.

Method for setting the ground contact forces given their positions, velocities, and the ground profile.

public abstract void doGroundContact();

Sets and returns the GroundProfile.

public abstract void setGroundProfile(GroundProfile profile); 
public abstract GroundProfile getGroundProfile();

Related Example:

Example of GroundContactModel in Use

← ExternalForcePoint and GroundContactPoint constructors and methodsGroundProfile Interface →
Simulation Construction Set
Docs
Quick StartSoftware Documentation
Community
GitHubFacebookTwitterYouTube
Copyright © 2018 IHMC Robotics