rp1.rossum
Class RsWheelCaster

java.lang.Object
  rp1.rossum.RsComponent
      rp1.rossum.RsBodyPart
          rp1.rossum.RsBodyShape
              rp1.rossum.RsWheel
                  rp1.rossum.RsWheelCaster

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable, RsEncoder

public class RsWheelCaster
extends RsWheel

A class used to represent caster wheels, generally stored in the collection elements of the RsWheelSystem.

See Also:

Serialized Form

Constructor Summary

RsWheelCaster(double[] point, int nPoint, double x, double y)

Method Summary

boolean

isWheelSteerable() Always returns false because in RP1 a caster wheel is not "steerable" in the sense that its orientation can be set by a steering mechanism.

Methods inherited from class rp1.rossum.RsWheel

addEncoder, copyStateData, getEncoderStatusEvent, getMaxAbsSteeringAngle, getWheelRadius, mapAccumulatorToDisplacement, paint, resetEncoder, resetStateData

Methods inherited from class rp1.rossum.RsBodyShape

checkForOverlap, getSegmentArray

Methods inherited from class rp1.rossum.RsBodyPart

getFillColor, getHot, getID, getLineColor, getName, isASensor, searchForCollisions, setFillColor, setHot, setHotFillColor, setHotLineColor, setLineColor, setName

Methods inherited from class rp1.rossum.RsComponent

clone

Methods inherited from class java.lang.Object

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

Methods inherited from interface rp1.rossum.RsEncoder

getID

Constructor Detail

RsWheelCaster

public RsWheelCaster(double[] point,
                     int nPoint,
                     double x,
                     double y)

Method Detail

isWheelSteerable

public boolean isWheelSteerable()

Always returns false because in RP1 a caster wheel is not "steerable" in the sense that its orientation can be set by a steering mechanism. Instead, it just steers according to the robot body motion at its position.

Overrides:

isWheelSteerable in class RsWheel