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, CommonJoint
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
 
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
 void getAngularAcceleration(FrameVector angularAccelerationToPack, ReferenceFrame bodyFrame)
           
 javax.vecmath.Vector3d getAngularAccelerationInBody()
           
 void getAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBodyToPack)
           
 DoubleYoVariable getAngularAccelerationX()
           
 DoubleYoVariable getAngularAccelerationY()
           
 DoubleYoVariable getAngularAccelerationZ()
           
 void getAngularVelocity(FrameVector angularVelocityToPack, ReferenceFrame bodyFrame)
           
 javax.vecmath.Vector3d getAngularVelocityInBody()
           
 void getAngularVelocityInBody(javax.vecmath.Vector3d vectorToPack)
           
 DoubleYoVariable getAngularVelocityX()
           
 DoubleYoVariable getAngularVelocityY()
           
 DoubleYoVariable getAngularVelocityZ()
           
 void getLinearAcceleration(FrameVector linearAccelerationToPack)
           
 void getLinearAccelerationInWorld(javax.vecmath.Vector3d accelerationInWorldToPack)
           
 void getPosition(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z)
           
 void getPosition(javax.vecmath.Tuple3d position)
           
 void getPositionAndVelocity(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z, DoubleYoVariable xDot, DoubleYoVariable yDot, DoubleYoVariable zDot)
           
 void getPositionAndVelocity(javax.vecmath.Tuple3d position, javax.vecmath.Tuple3d velocity)
           
 DoubleYoVariable getQddx()
           
 DoubleYoVariable getQddy()
           
 DoubleYoVariable getQddz()
           
 DoubleYoVariable getQdx()
           
 DoubleYoVariable getQdy()
           
 DoubleYoVariable getQdz()
           
 javax.vecmath.Quat4d getQuaternion()
           
 void getQuaternion(javax.vecmath.Quat4d quaternionToPack)
           
 DoubleYoVariable getQuaternionQs()
           
 DoubleYoVariable getQuaternionQx()
           
 DoubleYoVariable getQuaternionQy()
           
 DoubleYoVariable getQuaternionQz()
           
 DoubleYoVariable getQx()
           
 DoubleYoVariable getQy()
           
 DoubleYoVariable getQz()
           
 void getVelocity(DoubleYoVariable xDot, DoubleYoVariable yDot, DoubleYoVariable zDot)
           
 void getVelocity(FrameVector linearVelocityToPack)
           
 void getVelocity(javax.vecmath.Tuple3d velocity)
           
 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(double x, double y, double z)
           
 void setPosition(javax.vecmath.Tuple3d position)
           
 void setPositionAndVelocity(double x, double y, double z, double dx, double dy, double dz)
           
 void setPositionAndVelocity(javax.vecmath.Tuple3d position, javax.vecmath.Tuple3d velocity)
           
 void setQuaternion(javax.vecmath.Quat4d q)
           
 void setRotation(javax.vecmath.Matrix3d rotation)
           
 void setRotationAndTranslation(javax.media.j3d.Transform3D transform)
           
 void setVelocity(double xd, double yd, double zd)
           
 void setVelocity(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, addGroundContactPoint, addIMUMount, addJoint, addKinematicPoint, addSensor, changeOffsetVector, changeOffsetVector, freezeFrame, freezeNextFrame, get3DRotation, getAngularAccelerationsInBodyFrame, getAngularAccelerationsInWorld, getAngularVelocityInWorld, getChildrenJoints, getExternalForcePoints, getGroundContactPointGroup, getGroundContactPointGroup, getJointAxis, getJointTransform3D, getKinematicPoints, getLinearAccelerationInBody, getLinearAccelerationInWorld, getLinearVelocityInBody, getLinearVelocityInWorld, getLink, getName, getOffset, getOffsetTransform3D, getParentJoint, getRotationToWorld, getRotationToWorld, getTransformToWorld, getTransformToWorld, getTranslationToWorld, getUnitVector, getXYZToWorld, getYawPitchRollToWorld, isDynamic, recursiveDecideGroundContactPointsInContact, recursiveGetAllGroundContactPoints, recursiveGetChildrenJoints, recursiveGetOneDegreeOfFreedomJoints, recursiveUpdateAllGroundContactPointVelocities, resetFreezeFrame, 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

setPositionAndVelocity

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

setPositionAndVelocity

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

setPosition

public void setPosition(javax.vecmath.Tuple3d position)

setPosition

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

setVelocity

public void setVelocity(javax.vecmath.Tuple3d velocity)

setVelocity

public void setVelocity(double xd,
                        double yd,
                        double zd)

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)

getPosition

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

getVelocity

public void getVelocity(DoubleYoVariable xDot,
                        DoubleYoVariable yDot,
                        DoubleYoVariable zDot)

getVelocity

public void getVelocity(FrameVector linearVelocityToPack)

getAngularVelocity

public void getAngularVelocity(FrameVector angularVelocityToPack,
                               ReferenceFrame bodyFrame)

getPositionAndVelocity

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

getPosition

public void getPosition(javax.vecmath.Tuple3d position)

getVelocity

public void getVelocity(javax.vecmath.Tuple3d velocity)

getPositionAndVelocity

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

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()

getQuaternion

public void getQuaternion(javax.vecmath.Quat4d quaternionToPack)

getAngularVelocityX

public DoubleYoVariable getAngularVelocityX()

getAngularVelocityY

public DoubleYoVariable getAngularVelocityY()

getAngularVelocityZ

public DoubleYoVariable getAngularVelocityZ()

getAngularVelocityInBody

public javax.vecmath.Vector3d getAngularVelocityInBody()

getAngularVelocityInBody

public void getAngularVelocityInBody(javax.vecmath.Vector3d vectorToPack)
Overrides:
getAngularVelocityInBody in class Joint

getAngularAccelerationX

public DoubleYoVariable getAngularAccelerationX()

getAngularAccelerationY

public DoubleYoVariable getAngularAccelerationY()

getAngularAccelerationZ

public DoubleYoVariable getAngularAccelerationZ()

getAngularAccelerationInBody

public javax.vecmath.Vector3d getAngularAccelerationInBody()

getAngularAccelerationInBody

public void getAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBodyToPack)

getAngularAcceleration

public void getAngularAcceleration(FrameVector angularAccelerationToPack,
                                   ReferenceFrame bodyFrame)

getLinearAccelerationInWorld

public void getLinearAccelerationInWorld(javax.vecmath.Vector3d accelerationInWorldToPack)

getLinearAcceleration

public void getLinearAcceleration(FrameVector linearAccelerationToPack)

getYawPitchRoll

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