com.yobotics.simulationconstructionset
Class FloatingJoint

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Joint
      extended by com.yobotics.simulationconstructionset.FloatingJoint
All Implemented Interfaces:
java.io.Serializable
Direct Known Subclasses:
LaunchedBall

public class FloatingJoint
extends Joint

Title: Yobotics! Simulation Construction Set

Description: Package for Simulating Dynamic Robots and Mechanisms

Copyright: Copyright (c) Jerry Pratt

Company: Yobotics, Inc.

Version:
Beta 1.0
Author:
Jerry Pratt
See Also:
Serialized Form

Field Summary
 
Fields inherited from class com.yobotics.simulationconstructionset.Joint
MAX_ROT_ACCEL, MAX_TRANS_ACCEL, X, Y, Z
 
Constructor Summary
FloatingJoint(java.lang.String jname, java.lang.String varName, javax.vecmath.Vector3d offset, Robot rob)
           
FloatingJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob)
           
 
Method Summary
 javax.vecmath.Vector3d getAngularAccelerationInBody()
           
 DoubleYoVariable getAngularAccelerationX()
           
 DoubleYoVariable getAngularAccelerationY()
           
 DoubleYoVariable getAngularAccelerationZ()
           
 javax.vecmath.Vector3d getAngularVelocityInBody()
           
 DoubleYoVariable getAngularVelocityX()
           
 DoubleYoVariable getAngularVelocityY()
           
 DoubleYoVariable getAngularVelocityZ()
           
 DoubleYoVariable getQddx()
           
 DoubleYoVariable getQddy()
           
 DoubleYoVariable getQddz()
           
 DoubleYoVariable getQdx()
           
 DoubleYoVariable getQdy()
           
 DoubleYoVariable getQdz()
           
 javax.vecmath.Quat4d getQuaternion()
           
 DoubleYoVariable getQuaternionQs()
           
 DoubleYoVariable getQuaternionQx()
           
 DoubleYoVariable getQuaternionQy()
           
 DoubleYoVariable getQuaternionQz()
           
 DoubleYoVariable getQx()
           
 DoubleYoVariable getQy()
           
 DoubleYoVariable getQz()
           
 void getXYZ(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z)
           
 void getXYZ(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z, DoubleYoVariable xDot, DoubleYoVariable yDot, DoubleYoVariable zDot)
           
 void getXYZ(javax.vecmath.Tuple3d xyz)
           
 void getXYZ(javax.vecmath.Tuple3d xyz, javax.vecmath.Tuple3d xyzVelocity)
           
 void getYawPitchRoll(DoubleYoVariable yaw, DoubleYoVariable pitch, DoubleYoVariable roll)
           
 void setAcceleration(javax.vecmath.Tuple3d acceleration)
           
 void setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody)
           
 void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)
           
 void setPosition(javax.vecmath.Tuple3d position)
           
 void setQuaternion(javax.vecmath.Quat4d q)
           
 void setRotation(javax.vecmath.Matrix3d rotation)
           
 void setRotationAndTranslation(javax.media.j3d.Transform3D transform)
           
 void setVelocity(javax.vecmath.Tuple3d velocity)
           
 void setXYZ(double x, double y, double z)
           
 void setXYZ(double x, double y, double z, double dx, double dy, double dz)
           
 void setXYZ(javax.vecmath.Tuple3d position, javax.vecmath.Tuple3d velocity)
           
 void setYawPitchRoll(double yaw, double pitch, double roll)
           
 void setYawPitchRoll(double yaw, double pitch, double roll, double wz, double wy, double wx)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.Joint
addCameraMount, addExternalForcePoint, addGroundContactPoint, addJoint, addKinematicPoint, addRangeSensor, changeOffsetVector, changeOffsetVector, get3DRotation, getChildrenJoints, getExternalForcePoints, getGroundContactPointGroup, getJointAxis, getKinematicPoints, getLink, getName, getOffset, getRotationFromWorld, getRotationFromWorld, getTransformFromWorld, getTransformToWorld, getTranslationFromWorld, getUnitVector, getXYZFromWorld, getYawPitchRollFromWorld, isDynamic, recursiveDecideGroundContactPointsInContact, recursiveGetChildrenJoints, recursiveUpdateAllGroundContactPointVelocities, setDynamic, setLink, toString
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FloatingJoint

public FloatingJoint(java.lang.String jname,
                     javax.vecmath.Vector3d offset,
                     Robot rob)

FloatingJoint

public FloatingJoint(java.lang.String jname,
                     java.lang.String varName,
                     javax.vecmath.Vector3d offset,
                     Robot rob)
Method Detail

setXYZ

public void setXYZ(double x,
                   double y,
                   double z)

setXYZ

public void setXYZ(double x,
                   double y,
                   double z,
                   double dx,
                   double dy,
                   double dz)

setXYZ

public void setXYZ(javax.vecmath.Tuple3d position,
                   javax.vecmath.Tuple3d velocity)

setPosition

public void setPosition(javax.vecmath.Tuple3d position)

setVelocity

public void setVelocity(javax.vecmath.Tuple3d velocity)

setAcceleration

public void setAcceleration(javax.vecmath.Tuple3d acceleration)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll,
                            double wz,
                            double wy,
                            double wx)

setRotation

public void setRotation(javax.vecmath.Matrix3d rotation)

setQuaternion

public void setQuaternion(javax.vecmath.Quat4d q)

setRotationAndTranslation

public void setRotationAndTranslation(javax.media.j3d.Transform3D transform)

setAngularVelocityInBody

public void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)

setAngularAccelerationInBody

public void setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody)

getXYZ

public void getXYZ(DoubleYoVariable x,
                   DoubleYoVariable y,
                   DoubleYoVariable z)

getXYZ

public void getXYZ(DoubleYoVariable x,
                   DoubleYoVariable y,
                   DoubleYoVariable z,
                   DoubleYoVariable xDot,
                   DoubleYoVariable yDot,
                   DoubleYoVariable zDot)

getXYZ

public void getXYZ(javax.vecmath.Tuple3d xyz)

getXYZ

public void getXYZ(javax.vecmath.Tuple3d xyz,
                   javax.vecmath.Tuple3d xyzVelocity)

getQx

public DoubleYoVariable getQx()

getQy

public DoubleYoVariable getQy()

getQz

public DoubleYoVariable getQz()

getQdx

public DoubleYoVariable getQdx()

getQdy

public DoubleYoVariable getQdy()

getQdz

public DoubleYoVariable getQdz()

getQddx

public DoubleYoVariable getQddx()

getQddy

public DoubleYoVariable getQddy()

getQddz

public DoubleYoVariable getQddz()

getQuaternionQs

public DoubleYoVariable getQuaternionQs()

getQuaternionQx

public DoubleYoVariable getQuaternionQx()

getQuaternionQy

public DoubleYoVariable getQuaternionQy()

getQuaternionQz

public DoubleYoVariable getQuaternionQz()

getQuaternion

public javax.vecmath.Quat4d getQuaternion()

getAngularVelocityX

public DoubleYoVariable getAngularVelocityX()

getAngularVelocityY

public DoubleYoVariable getAngularVelocityY()

getAngularVelocityZ

public DoubleYoVariable getAngularVelocityZ()

getAngularVelocityInBody

public javax.vecmath.Vector3d getAngularVelocityInBody()

getAngularAccelerationX

public DoubleYoVariable getAngularAccelerationX()

getAngularAccelerationY

public DoubleYoVariable getAngularAccelerationY()

getAngularAccelerationZ

public DoubleYoVariable getAngularAccelerationZ()

getAngularAccelerationInBody

public javax.vecmath.Vector3d getAngularAccelerationInBody()

getYawPitchRoll

public void getYawPitchRoll(DoubleYoVariable yaw,
                            DoubleYoVariable pitch,
                            DoubleYoVariable roll)