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java.lang.Objectcom.yobotics.simulationconstructionset.Link
public class Link
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms
Copyright: Copyright (c) Yobotics, Inc. 2000-2005
Constructor Summary | |
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Link(Link other)
Copy constructor. |
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Link(LinkDefinitionFixedFrame linkDefinition)
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Link(java.lang.String linkName)
Basic constructor, creates a new link with the specified name. |
Method Summary | |
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void |
addCoordinateSystemToCOM(double length)
Adds a coordinate system representation at the center of mass of this link. |
void |
addEllipsoidFromMassProperties()
Adds an ellipsoid representing the mass and inertia of the link at its center of mass. |
void |
addEllipsoidFromMassProperties(AppearanceDefinition appearance)
Adds an ellipsoid representing the mass and inertia of the link at its center of mass with the specified appearance. |
void |
addToCollisionGroup(CollisionGroup collisionGroup)
Adds this Link to a CollisionGroup to enable collision detection inside that group or amoung groups. |
void |
addToCollisionGroups(CollisionGroup[] collisionGroups)
Adds this Link to all the CollisionGroups listed to enable collision detection inside that group or amoung groups. |
void |
combineLinks(Link link)
Combines the specified link with this link. |
void |
enableCollisions(double maxVelocity,
vclip.PolyTree polyTree,
Robot rob)
Enables collisions for this link. |
void |
getComOffset(javax.vecmath.Vector3d comOffsetRet)
Stores a vector3d representation of the offset from the links center of mass in the provided variable. |
Graphics3DObject |
getLinkGraphics()
Retrieves the LinkGraphics object representing this link. |
double |
getMass()
Retrieves the mass of this joint. |
void |
getMomentOfInertia(javax.vecmath.Matrix3d momentOfInertia)
Retrieves the moment of inertia for this link. |
java.lang.String |
getName()
Retrieves this link's name. |
void |
setComOffset(double xOffset,
double yOffset,
double zOffset)
Sets the offset from the inbound joint to this links center of mass. |
void |
setComOffset(javax.vecmath.Vector3d comOffset)
Sets the offset from the inbound joint ot this links center of mass. |
void |
setLinkGraphics(Graphics3DObject linkGraphics)
Sets the graphical representation of this link to the provided LinkGraphics. |
void |
setMass(double mass)
Sets the mass of this joint. |
void |
setMassAndRadiiOfGyration(double mass,
double radiusOfGyrationX,
double radiusOfGyrationY,
double radiusOfGyrationZ)
Sets the mass and moment of inertia of this link. |
void |
setMomentOfInertia(double Ixx,
double Iyy,
double Izz)
Sets the moment of inertia for this link. |
void |
setMomentOfInertia(javax.vecmath.Matrix3d momentOfInertia)
Sets the moment of inertia for this link. |
java.lang.String |
toString()
Returns a string representation of this link. |
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 Link(LinkDefinitionFixedFrame linkDefinition)
public Link(java.lang.String linkName)
linkName
- Name for this link.public Link(Link other)
other
- Link to copyMethod Detail |
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public java.lang.String getName()
public java.lang.String toString()
The following is an example of its format: Link: <Link Name> Mass: <Link Mass> COM Offset: <Center of Mass offset> Moment of Inertia: m00, m01, m02 m10, m11, m12 m20, m21, m22
toString
in class java.lang.Object
public void combineLinks(Link link)
link
- Link to be combined with this link.public void setMass(double mass)
mass
- New joint mass.public double getMass()
public void setMomentOfInertia(double Ixx, double Iyy, double Izz)
Ixx
- doubleIyy
- doubleIzz
- doublepublic void setMassAndRadiiOfGyration(double mass, double radiusOfGyrationX, double radiusOfGyrationY, double radiusOfGyrationZ)
mass
- Mass of the link.radiusOfGyrationX
- Radius of gyration in the x direction.radiusOfGyrationY
- Radius of gyration in the y direction.radiusOfGyrationZ
- Radius of gyration in the z direction.public void setMomentOfInertia(javax.vecmath.Matrix3d momentOfInertia)
momentOfInertia
- Matrix3d representing the moment of inertiapublic void getMomentOfInertia(javax.vecmath.Matrix3d momentOfInertia)
momentOfInertia
- Matrix3d representation of the moment of inertia.public void setComOffset(double xOffset, double yOffset, double zOffset)
xOffset
- Offset in the x direction.yOffset
- Offset in the y direction.zOffset
- Offset in the z direction.public void setComOffset(javax.vecmath.Vector3d comOffset)
comOffset
- Vector3d representing the offset.public void getComOffset(javax.vecmath.Vector3d comOffsetRet)
comOffsetRet
- Vector3d in which the offset will be stored.public void setLinkGraphics(Graphics3DObject linkGraphics)
linkGraphics
- LinkGraphics to be used for this link.public Graphics3DObject getLinkGraphics()
public void enableCollisions(double maxVelocity, vclip.PolyTree polyTree, Robot rob)
maxVelocity
- Maximum velocity of any point on the link. Used for improving collision detection performance.polyTree
- PolyTree defining collision geometry.public void addToCollisionGroup(CollisionGroup collisionGroup)
collisionGroup
- CollisionGroup to add this Link to.public void addToCollisionGroups(CollisionGroup[] collisionGroups)
collisionGroups
- CollisionGroup array to add this Link to.public void addEllipsoidFromMassProperties()
public void addCoordinateSystemToCOM(double length)
length
- length in meters of each arm/axis on the coordinate system.public void addEllipsoidFromMassProperties(AppearanceDefinition appearance)
appearance
- Appearance to be used with the ellipsoid. See YoAppearance
for implementations.
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