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java.lang.Objectcom.yobotics.simulationconstructionset.Joint
com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint
com.yobotics.simulationconstructionset.PinJoint
com.yobotics.simulationconstructionset.UniversalJoint
public class UniversalJoint
Field Summary |
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Fields inherited from class com.yobotics.simulationconstructionset.Joint |
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MAX_ROT_ACCEL, MAX_TRANS_ACCEL |
Constructor Summary | |
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UniversalJoint(java.lang.String jname1,
java.lang.String jname2,
javax.vecmath.Vector3d offset,
Robot rob,
Axis firstAxis,
Axis secondAxis)
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Method Summary | |
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void |
addCameraMount(CameraMount mount)
Adds the specified camera mount to this joint. |
void |
addExternalForcePoint(ExternalForcePoint point)
Adds the specified ExternalForcePoint. |
void |
addGroundContactPoint(GroundContactPoint point)
Adds the specified GroundContactPoint to this joint. |
void |
addIMUMount(IMUMount mount)
Adds the specified imu mount to this joint. |
void |
addJoint(Joint nextJoint)
Adds the specified joint as a child of this joint. |
void |
addKinematicPoint(KinematicPoint point)
Adds the specified KinematicPoint to this joint. |
void |
getRotationToWorld(javax.vecmath.Matrix3d rotation)
Retrieves the rotational component of the transform between world space and this joint space. |
void |
getRotationToWorld(javax.vecmath.Quat4d rotation)
Retrieves the quaternion representation of the rotational component of the transform between world space and this joint space. |
void |
getState(double[] state)
Inserts the given position and velocity of this pin joint into the provided array. |
void |
getTranslationToWorld(javax.vecmath.Vector3d translation)
Retrieves the translational component of the transform between world space and this joint space in vector form. |
void |
setDamping(double b_damp)
Specifies the overall damping constant for this joint. |
void |
setDamping(int axis,
double b_damp)
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void |
setInitialState(double q1_init,
double qd1_init,
double q2_init,
double qd2_init)
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void |
setLimitStops(int axis,
double q_min,
double q_max,
double k_limit,
double b_limit)
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void |
setLink(Link l)
Sets the link for this joint. |
Methods inherited from class com.yobotics.simulationconstructionset.PinJoint |
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addTau, getDamping, getQ, getQD, getQDD, getTau, getTorqueLimit, getVelocityLimit, setDampingParameterOnly, setInitialState, setLimitStops, setQ, setQd, setQdd, setTau, setTorqueLimits, setTorqueSpeedCurve, setVelocityLimits |
Methods inherited from class com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint |
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doPDControl, getKd, getKp, getQdDesired, getqDesired, setKd, setKp, setQdDesired, setqDesired |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public UniversalJoint(java.lang.String jname1, java.lang.String jname2, javax.vecmath.Vector3d offset, Robot rob, Axis firstAxis, Axis secondAxis)
Method Detail |
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public void addJoint(Joint nextJoint)
Joint
addJoint
in class Joint
nextJoint
- Child joint to be added.public void setLink(Link l)
Joint
setLink
in class Joint
l
- New link for this joint.public void addCameraMount(CameraMount mount)
Joint
addCameraMount
in class Joint
mount
- CameraMount to be added.CameraMount
public void addIMUMount(IMUMount mount)
Joint
addIMUMount
in class Joint
mount
- IMUMount to be added.IMUMount
public void addKinematicPoint(KinematicPoint point)
Joint
addKinematicPoint
in class Joint
point
- KinematicPoint to be added.KinematicPoint
public void addGroundContactPoint(GroundContactPoint point)
Joint
addGroundContactPoint
in class Joint
point
- GroundContactPointGroundContactPoint
,
GroundContactModel
public void addExternalForcePoint(ExternalForcePoint point)
Joint
addExternalForcePoint
in class Joint
point
- ExternalForcePointExternalForcePoint
public void setLimitStops(int axis, double q_min, double q_max, double k_limit, double b_limit)
public void setDamping(int axis, double b_damp)
public void setDamping(double b_damp)
PinJoint
setDamping
in class PinJoint
b_damp
- general damping constant for this jointpublic void setInitialState(double q1_init, double qd1_init, double q2_init, double qd2_init)
public void getState(double[] state)
PinJoint
getState
in class PinJoint
state
- double[]public void getRotationToWorld(javax.vecmath.Matrix3d rotation)
Joint
getRotationToWorld
in class Joint
rotation
- Matrix3d containing the rotational component.public void getRotationToWorld(javax.vecmath.Quat4d rotation)
Joint
getRotationToWorld
in class Joint
rotation
- Quat4d to store the rotational transform.public void getTranslationToWorld(javax.vecmath.Vector3d translation)
Joint
getTranslationToWorld
in class Joint
translation
- Vector3d representing the translation between world and joint space.
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