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java.lang.Objectcom.yobotics.simulationconstructionset.Joint
public abstract class Joint
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
Field Summary | |
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static double |
MAX_ROT_ACCEL
The maximum rotational acceleration this joint may undergo before throwing an UnreasonableAccelerationException . |
static double |
MAX_TRANS_ACCEL
The maximum translational acceleration this joint may undergo before throwing an UnreasonableAccelerationException . |
static int |
X
Identifier for the X axis used on creation for pin and slider joints to determine their joint axis. |
static int |
Y
Identifier for the Y axis used on creation for pin and slider joints to determine their joint axis. |
static int |
Z
Identifier for the Z axis used on creation for pin and slider joints to determine their joint axis. |
Method Summary | |
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void |
addCameraMount(CameraMount mount)
Adds the specified camera mount to this joint. |
void |
addExternalForcePoint(ExternalForcePoint point)
Adds the specified ExternalForcePoint. |
void |
addGroundContactPoint(GroundContactPoint point)
Adds the specified GroundContactPoint to this joint. |
void |
addJoint(Joint nextJoint)
Adds the specified joint as a child of this joint. |
void |
addKinematicPoint(KinematicPoint point)
Adds the specified KinematicPoint to this joint. |
void |
addRangeSensor(RangeSensor rangeSensor)
Adds the specified range sensor to this joint. |
void |
changeOffsetVector(double x,
double y,
double z)
Changes the offset between the current joint and its parent joint based on the provided x, y, and z components. |
void |
changeOffsetVector(javax.vecmath.Vector3d newOffsetVector)
Changes the offset between the current joint and its parent joint. |
double[] |
get3DRotation()
|
java.util.ArrayList<Joint> |
getChildrenJoints()
|
java.util.ArrayList<ExternalForcePoint> |
getExternalForcePoints()
|
GroundContactPointGroup |
getGroundContactPointGroup()
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void |
getJointAxis(javax.vecmath.Vector3d axisToPack)
|
void |
getKinematicPoints(java.util.ArrayList<KinematicPoint> list)
Returns a list of the kinematic points associated with this joint. |
Link |
getLink()
Retrieves the link associated with this joint. |
java.lang.String |
getName()
Retrieves the joint name. |
void |
getOffset(javax.vecmath.Vector3d offsetToPack)
|
void |
getRotationFromWorld(javax.vecmath.Matrix3d rotation)
Retrieves the rotational component of the transform between world space and this joint space. |
void |
getRotationFromWorld(javax.vecmath.Quat4d rotation)
Retrieves the quaternion representation of the rotational component of the transform between world space and this joint space. |
void |
getTransformFromWorld(javax.vecmath.Quat4d rotation,
javax.vecmath.Vector3d translation)
Sets rotation and translation to the rotational and translational components of the the transform between world space and this joint space. |
void |
getTransformToWorld(javax.media.j3d.Transform3D ret)
Sets ret to the transform between world space and this joint space. |
void |
getTranslationFromWorld(javax.vecmath.Vector3d translation)
Retrieves the translational component of the transform between world space and this joint space in vector form. |
javax.vecmath.Vector3d |
getUnitVector()
|
void |
getXYZFromWorld(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z)
Stores the x, y, and z components of the translation between world space and joint space in the provided YoVariables. |
void |
getYawPitchRollFromWorld(DoubleYoVariable yaw,
DoubleYoVariable pitch,
DoubleYoVariable roll)
Retrieves the rotation between world space and joint space in terms of yaw, pitch and roll. |
boolean |
isDynamic()
Indiciates whether or not this joint is dynamic. |
void |
recursiveDecideGroundContactPointsInContact()
Recurse through the tree deciding if any ground contact points are in contact. |
void |
recursiveGetChildrenJoints(java.util.ArrayList<Joint> arrayListToPack)
|
void |
recursiveUpdateAllGroundContactPointVelocities()
This function is called once per simulation tick to update the velocities of all ground contact points. |
void |
setDynamic(boolean isDynamic)
Specify whether or not this particular joint is dynamic. |
void |
setLink(Link l)
Sets the link for this joint. |
java.lang.String |
toString()
Returns a string representation of this joint. |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public static final double MAX_TRANS_ACCEL
UnreasonableAccelerationException
.
public static final double MAX_ROT_ACCEL
UnreasonableAccelerationException
.
public static final int X
public static final int Y
public static final int Z
Method Detail |
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public java.util.ArrayList<Joint> getChildrenJoints()
public void recursiveGetChildrenJoints(java.util.ArrayList<Joint> arrayListToPack)
public java.lang.String getName()
public javax.vecmath.Vector3d getUnitVector()
public void getJointAxis(javax.vecmath.Vector3d axisToPack)
public void changeOffsetVector(javax.vecmath.Vector3d newOffsetVector)
newOffsetVector
- Vector3d representing this new offset.public void changeOffsetVector(double x, double y, double z)
x
- Component of the new offset vector.y
- Component of the new offset vector.z
- Component of the new offset vector.public boolean isDynamic()
public void setDynamic(boolean isDynamic)
isDynamic
- Indicate whether or not the joint is dynamic, which is true by default.public java.lang.String toString()
toString
in class java.lang.Object
public void addJoint(Joint nextJoint)
nextJoint
- Child joint to be added.public void addCameraMount(CameraMount mount)
mount
- CameraMount to be added.CameraMount
public void addRangeSensor(RangeSensor rangeSensor)
rangeSensor
- RangeSensor to be added at this joint.RangeSensor
public void addKinematicPoint(KinematicPoint point)
point
- KinematicPoint to be added.KinematicPoint
public void addExternalForcePoint(ExternalForcePoint point)
point
- ExternalForcePointExternalForcePoint
public void addGroundContactPoint(GroundContactPoint point)
point
- GroundContactPointGroundContactPoint
,
GroundContactModel
public GroundContactPointGroup getGroundContactPointGroup()
public Link getLink()
public void getOffset(javax.vecmath.Vector3d offsetToPack)
public void setLink(Link l)
l
- New link for this joint.public void getKinematicPoints(java.util.ArrayList<KinematicPoint> list)
list
- ArrayList to which the points are added.KinematicPoint
public java.util.ArrayList<ExternalForcePoint> getExternalForcePoints()
public void getTransformToWorld(javax.media.j3d.Transform3D ret)
ret
- Transform3Dpublic void getTransformFromWorld(javax.vecmath.Quat4d rotation, javax.vecmath.Vector3d translation)
rotation
- Quat4d representation of the rotational component.translation
- Vector3d representation of the traslational component.public void getRotationFromWorld(javax.vecmath.Matrix3d rotation)
rotation
- Matrix3d containing the rotational component.public void getRotationFromWorld(javax.vecmath.Quat4d rotation)
rotation
- Quat4d to store the rotational transform.public void getTranslationFromWorld(javax.vecmath.Vector3d translation)
translation
- Vector3d representing the translation between world and joint space.public void getXYZFromWorld(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z)
x
- YoVariable to store the x component.y
- YoVariable to store the y component.z
- YoVariable to store the z component.public void getYawPitchRollFromWorld(DoubleYoVariable yaw, DoubleYoVariable pitch, DoubleYoVariable roll)
yaw
- YoVariable to store yaw.pitch
- YoVariable to store pitch.roll
- YoVariable to store roll.public double[] get3DRotation()
public void recursiveDecideGroundContactPointsInContact()
public void recursiveUpdateAllGroundContactPointVelocities()
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