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java.lang.Objectcom.yobotics.simulationconstructionset.Joint
com.yobotics.simulationconstructionset.SliderJoint
public class SliderJoint
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms. A translational joint with a single degree of freedom. This joint allows motion up and down the specified joint axis. This is a fundamental joint type which is currently used in the implementation of cylinder joint.
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
Field Summary |
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Fields inherited from class com.yobotics.simulationconstructionset.Joint |
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MAX_ROT_ACCEL, MAX_TRANS_ACCEL, X, Y, Z |
Constructor Summary | |
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SliderJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob,
int jaxis)
Constructs a new slider joint and adds it to the specified Robot. |
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SliderJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob,
javax.vecmath.Vector3d u_hat)
Creates a new slider joint and adds it to the specified robot. |
Method Summary | |
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DoubleYoVariable |
getQ()
Retrieves the current position of this joint. |
DoubleYoVariable |
getQD()
Retrieves the current velocity of this joint. |
DoubleYoVariable |
getQDD()
Retrieves the current acceleration of this joint. |
void |
getState(double[] state)
Retrieves the current velocity and postion storing those values into the provided double array. |
DoubleYoVariable |
getTau()
Retrieves the torque currently applied at this joint. |
void |
setDamping(double b_damp)
Sets a global velocity damping constant. |
void |
setInitialState(double q_init,
double qd_init)
Sets the initial velocity and position for this joint. |
void |
setLimitStops(double q_min,
double q_max,
double k_limit,
double b_limit)
Allows the definition of positional limit stops for this joint. |
void |
setQ(double q)
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void |
setQd(double qd)
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void |
setTau(double tau)
Sets the current torque at this joint. |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public SliderJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob, int jaxis)
jname
- name of this jointoffset
- Vector3d defining the offset from the robot origin to the jointrob
- Robot to which this joint belongsjaxis
- int representing the joint axispublic SliderJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob, javax.vecmath.Vector3d u_hat)
jname
- name of this jointoffset
- Vector3d defining the offset from the robot origin to the jointrob
- Robot to which this joint belongsu_hat
- Vector3d defining the joint axis in world coordinatesMethod Detail |
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public void setLimitStops(double q_min, double q_max, double k_limit, double b_limit)
q_min
- minimum position for this jointq_max
- maximum position for this jointk_limit
- spring constant used in torque calculationsb_limit
- damping constant used in torque calculationspublic void setDamping(double b_damp)
b_damp
- new damping constantpublic void setInitialState(double q_init, double qd_init)
q_init
- initial positionqd_init
- initial velocitypublic void setQ(double q)
public void setQd(double qd)
public void getState(double[] state)
state
- array in which the state is to be storedpublic void setTau(double tau)
tau
- torque to be appliedpublic DoubleYoVariable getQ()
public DoubleYoVariable getQD()
public DoubleYoVariable getQDD()
public DoubleYoVariable getTau()
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