com.yobotics.simulationconstructionset
Class KinematicPoint

java.lang.Object
  extended by com.yobotics.simulationconstructionset.KinematicPoint
All Implemented Interfaces:
java.io.Serializable
Direct Known Subclasses:
ExternalForcePoint

public class KinematicPoint
extends java.lang.Object
implements java.io.Serializable

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
 DoubleYoVariable dx
           
 DoubleYoVariable dy
           
 DoubleYoVariable dz
           
 DoubleYoVariable x
           
 DoubleYoVariable y
           
 DoubleYoVariable z
           
 
Constructor Summary
KinematicPoint(java.lang.String name, Robot robot)
           
KinematicPoint(java.lang.String name, javax.vecmath.Vector3d offset, Robot rob)
           
 
Method Summary
 KinematicPointUpdater getKinematicPointUpdater()
           
 java.lang.String getName()
           
 void getOffset(javax.vecmath.Tuple3d offsetToPack)
           
 javax.vecmath.Vector3d getOffsetCopy()
           
 Joint getParentJoint()
           
 void getPosition(javax.vecmath.Tuple3d positionToPack)
           
 javax.vecmath.Point3d getPositionPoint()
           
 void getVelocity(javax.vecmath.Vector3d velocityToPack)
           
 javax.vecmath.Vector3d getVelocityVector()
           
 YoFramePoint getYoPosition()
           
 YoFrameVector getYoVelocity()
           
 void setKinematicPointUpdater(KinematicPointUpdater updater)
           
 void setOffsetJoint(double x, double y, double z)
           
 void setOffsetJoint(javax.vecmath.Vector3d newOffset)
           
 void setOffsetWorld(double x, double y, double z)
           
 void setOffsetWorld(javax.vecmath.Tuple3d offsetInWorld)
           
 void setParentJoint(Joint parent)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

x

public final DoubleYoVariable x

y

public final DoubleYoVariable y

z

public final DoubleYoVariable z

dx

public final DoubleYoVariable dx

dy

public final DoubleYoVariable dy

dz

public final DoubleYoVariable dz
Constructor Detail

KinematicPoint

public KinematicPoint(java.lang.String name,
                      javax.vecmath.Vector3d offset,
                      Robot rob)

KinematicPoint

public KinematicPoint(java.lang.String name,
                      Robot robot)
Method Detail

getKinematicPointUpdater

public KinematicPointUpdater getKinematicPointUpdater()

setKinematicPointUpdater

public void setKinematicPointUpdater(KinematicPointUpdater updater)

setParentJoint

public void setParentJoint(Joint parent)

getParentJoint

public Joint getParentJoint()

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

setOffsetJoint

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

setOffsetJoint

public void setOffsetJoint(javax.vecmath.Vector3d newOffset)

setOffsetWorld

public void setOffsetWorld(javax.vecmath.Tuple3d offsetInWorld)

setOffsetWorld

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

getName

public java.lang.String getName()

getOffset

public void getOffset(javax.vecmath.Tuple3d offsetToPack)

getOffsetCopy

public javax.vecmath.Vector3d getOffsetCopy()

getPosition

public void getPosition(javax.vecmath.Tuple3d positionToPack)

getPositionPoint

public javax.vecmath.Point3d getPositionPoint()

getVelocity

public void getVelocity(javax.vecmath.Vector3d velocityToPack)

getVelocityVector

public javax.vecmath.Vector3d getVelocityVector()

getYoPosition

public YoFramePoint getYoPosition()

getYoVelocity

public YoFrameVector getYoVelocity()