com.yobotics.simulationconstructionset
Class OneDegreeOfFreedomJoint
java.lang.Object
com.yobotics.simulationconstructionset.Joint
com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint
- All Implemented Interfaces:
- java.io.Serializable, CommonJoint
- Direct Known Subclasses:
- PinJoint, SliderJoint
public abstract class OneDegreeOfFreedomJoint
- extends Joint
- See Also:
- Serialized Form
Methods inherited from class com.yobotics.simulationconstructionset.Joint |
addCameraMount, addExternalForcePoint, addGroundContactPoint, addGroundContactPoint, addIMUMount, addJoint, addKinematicPoint, addSensor, changeOffsetVector, changeOffsetVector, freezeFrame, freezeNextFrame, get3DRotation, getAngularAccelerationsInBodyFrame, getAngularAccelerationsInWorld, getAngularVelocityInBody, 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 |
OneDegreeOfFreedomJoint
public OneDegreeOfFreedomJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob)
getQDD
public abstract DoubleYoVariable getQDD()
getQD
public abstract DoubleYoVariable getQD()
getQ
public abstract DoubleYoVariable getQ()
setQdd
public abstract void setQdd(double qdd)
setQd
public abstract void setQd(double qd)
setQ
public abstract void setQ(double q)
setTau
public abstract void setTau(double tau)
getTau
public abstract DoubleYoVariable getTau()
getDamping
public abstract double getDamping()
setDamping
public abstract void setDamping(double b_damp)
getTorqueLimit
public abstract double getTorqueLimit()
getVelocityLimit
public abstract double getVelocityLimit()
getKp
public double getKp()
getKd
public double getKd()
getqDesired
public double getqDesired()
getQdDesired
public double getQdDesired()
setKp
public void setKp(double kp)
setKd
public void setKd(double kd)
setqDesired
public void setqDesired(double qDesired)
setQdDesired
public void setQdDesired(double qdDesired)
doPDControl
public double doPDControl()