How to use

LinearStickSlipGroundContactModel

in

us.ihmc.simulationconstructionset.util

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,