Package org.robwork.sdurw
Class Contact2D
- java.lang.Object
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- org.robwork.sdurw.Contact2D
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public class Contact2D extends java.lang.Object
data structure for describing a contact in 2D
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
double
getAvgCurvature()
double moving average of the curvaturestatic long
getCPtr(Contact2D obj)
double
getCurvature()
surface curvaturedouble
getMu()
coulomb friction coefficientVector2Dd
getN()
Surface contact normalVector2Dd
getP()
Contact positionvoid
setAvgCurvature(double value)
double moving average of the curvaturevoid
setCurvature(double value)
surface curvaturevoid
setMu(double value)
coulomb friction coefficientvoid
setN(Vector2Dd value)
Surface contact normalvoid
setP(Vector2Dd value)
Contact position
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Method Detail
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getCPtr
public static long getCPtr(Contact2D obj)
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delete
public void delete()
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setP
public void setP(Vector2Dd value)
Contact position
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getP
public Vector2Dd getP()
Contact position
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setN
public void setN(Vector2Dd value)
Surface contact normal
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getN
public Vector2Dd getN()
Surface contact normal
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setCurvature
public void setCurvature(double value)
surface curvature
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getCurvature
public double getCurvature()
surface curvature
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setAvgCurvature
public void setAvgCurvature(double value)
double moving average of the curvature
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getAvgCurvature
public double getAvgCurvature()
double moving average of the curvature
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setMu
public void setMu(double value)
coulomb friction coefficient
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getMu
public double getMu()
coulomb friction coefficient
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