com.yobotics.simulationconstructionset
Class FloatingJoint
java.lang.Object
com.yobotics.simulationconstructionset.Joint
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
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 |
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)
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)