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java.lang.Objectcom.yobotics.simulationconstructionset.Joint
public abstract class Joint
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
Field Summary | |
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static double |
MAX_ROT_ACCEL
The maximum rotational acceleration this joint may undergo before throwing an UnreasonableAccelerationException . |
static double |
MAX_TRANS_ACCEL
The maximum translational acceleration this joint may undergo before throwing an UnreasonableAccelerationException . |
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 |
addGroundContactPoint(int groupIdentifier,
GroundContactPoint point)
|
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 |
addSensor(SimulatedSensor simulatedSensor)
|
void |
changeOffsetVector(double x,
double y,
double z)
Changes the offset between the current joint and its parent joint based on the provided x, y, and z components. |
void |
changeOffsetVector(javax.vecmath.Vector3d newOffsetVector)
Changes the offset between the current joint and its parent joint. |
void |
freezeFrame()
|
boolean |
freezeNextFrame()
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double[] |
get3DRotation()
|
void |
getAngularAccelerationsInBodyFrame(javax.vecmath.Vector3d angularAccelerationToPack)
|
void |
getAngularAccelerationsInWorld(javax.vecmath.Vector3d angularAccelerationInWorldToPack)
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void |
getAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBodyToPack)
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void |
getAngularVelocityInWorld(javax.vecmath.Vector3d angularVelocityInWorldToPack)
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java.util.ArrayList<Joint> |
getChildrenJoints()
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java.util.ArrayList<ExternalForcePoint> |
getExternalForcePoints()
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GroundContactPointGroup |
getGroundContactPointGroup()
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GroundContactPointGroup |
getGroundContactPointGroup(int identifier)
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void |
getJointAxis(javax.vecmath.Vector3d axisToPack)
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javax.media.j3d.Transform3D |
getJointTransform3D()
Retrieves the Transform3D for this joint. |
void |
getKinematicPoints(java.util.ArrayList<KinematicPoint> list)
Returns a list of the kinematic points associated with this joint. |
void |
getLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBodyToPack,
javax.vecmath.Vector3d pointInBody)
|
void |
getLinearAccelerationInWorld(javax.vecmath.Vector3d linearAccelerationInWorldToPack,
javax.vecmath.Vector3d pointInBody)
|
void |
getLinearVelocityInBody(javax.vecmath.Vector3d linearVelocityInBodyToPack,
javax.vecmath.Vector3d pointInBody)
|
void |
getLinearVelocityInWorld(javax.vecmath.Vector3d linearVelocityInWorldToPack,
javax.vecmath.Vector3d pointInBody)
|
Link |
getLink()
Retrieves the link associated with this joint. |
java.lang.String |
getName()
Retrieves the joint name. |
void |
getOffset(javax.vecmath.Vector3d offsetToPack)
|
javax.media.j3d.Transform3D |
getOffsetTransform3D()
Retrieves the transform describing the translation between the current joint and the previous joint. |
Joint |
getParentJoint()
|
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 |
getTransformToWorld(javax.vecmath.Quat4d rotation,
javax.vecmath.Vector3d translation)
Sets rotation and translation to the rotational and translational components of the the transform between world space and this joint space. |
void |
getTransformToWorld(javax.media.j3d.Transform3D ret)
Sets ret to the transform between world space and this joint space. |
void |
getTranslationToWorld(javax.vecmath.Vector3d translation)
Retrieves the translational component of the transform between world space and this joint space in vector form. |
javax.vecmath.Vector3d |
getUnitVector()
|
void |
getXYZToWorld(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z)
Stores the x, y, and z components of the translation between world space and joint space in the provided YoVariables. |
void |
getYawPitchRollToWorld(DoubleYoVariable yaw,
DoubleYoVariable pitch,
DoubleYoVariable roll)
Retrieves the rotation between world space and joint space in terms of yaw, pitch and roll. |
boolean |
isDynamic()
Indiciates whether or not this joint is dynamic. |
void |
recursiveDecideGroundContactPointsInContact()
Recurse through the tree deciding if any ground contact points are in contact. |
void |
recursiveGetAllGroundContactPoints(java.util.ArrayList<GroundContactPoint> list)
|
void |
recursiveGetChildrenJoints(java.util.ArrayList<Joint> arrayListToPack)
|
void |
recursiveGetOneDegreeOfFreedomJoints(java.util.ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJointsToPack)
|
void |
recursiveUpdateAllGroundContactPointVelocities()
This function is called once per simulation tick to update the velocities of all ground contact points. |
void |
resetFreezeFrame()
|
void |
setDynamic(boolean isDynamic)
Specify whether or not this particular joint is dynamic. |
void |
setLink(Link newLink)
Sets the link for this joint. |
java.lang.String |
toString()
Returns a string representation of this joint. |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public static final double MAX_TRANS_ACCEL
UnreasonableAccelerationException
.
public static final double MAX_ROT_ACCEL
UnreasonableAccelerationException
.
Method Detail |
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public Joint getParentJoint()
public java.util.ArrayList<Joint> getChildrenJoints()
public void recursiveGetChildrenJoints(java.util.ArrayList<Joint> arrayListToPack)
public void recursiveGetOneDegreeOfFreedomJoints(java.util.ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJointsToPack)
public java.lang.String getName()
public javax.vecmath.Vector3d getUnitVector()
public void getJointAxis(javax.vecmath.Vector3d axisToPack)
public void changeOffsetVector(javax.vecmath.Vector3d newOffsetVector)
newOffsetVector
- Vector3d representing this new offset.public void changeOffsetVector(double x, double y, double z)
x
- Component of the new offset vector.y
- Component of the new offset vector.z
- Component of the new offset vector.public boolean isDynamic()
public void setDynamic(boolean isDynamic)
isDynamic
- Indicate whether or not the joint is dynamic, which is true by default.public java.lang.String toString()
toString
in class java.lang.Object
public javax.media.j3d.Transform3D getJointTransform3D()
getJointTransform3D
in interface CommonJoint
public void addJoint(Joint nextJoint)
nextJoint
- Child joint to be added.public javax.media.j3d.Transform3D getOffsetTransform3D()
getOffsetTransform3D
in interface CommonJoint
public void addCameraMount(CameraMount mount)
mount
- CameraMount to be added.CameraMount
public void addIMUMount(IMUMount mount)
mount
- IMUMount to be added.IMUMount
public void addKinematicPoint(KinematicPoint point)
point
- KinematicPoint to be added.KinematicPoint
public void addExternalForcePoint(ExternalForcePoint point)
point
- ExternalForcePointExternalForcePoint
public void addGroundContactPoint(GroundContactPoint point)
point
- GroundContactPointGroundContactPoint
,
GroundContactModel
public void addGroundContactPoint(int groupIdentifier, GroundContactPoint point)
public GroundContactPointGroup getGroundContactPointGroup()
public GroundContactPointGroup getGroundContactPointGroup(int identifier)
public Link getLink()
public void getOffset(javax.vecmath.Vector3d offsetToPack)
public void setLink(Link newLink)
newLink
- New link for this joint.public void addSensor(SimulatedSensor simulatedSensor)
public void getKinematicPoints(java.util.ArrayList<KinematicPoint> list)
list
- ArrayList to which the points are added.KinematicPoint
public java.util.ArrayList<ExternalForcePoint> getExternalForcePoints()
public void recursiveGetAllGroundContactPoints(java.util.ArrayList<GroundContactPoint> list)
public void getTransformToWorld(javax.media.j3d.Transform3D ret)
ret
- Transform3Dpublic void getTransformToWorld(javax.vecmath.Quat4d rotation, javax.vecmath.Vector3d translation)
rotation
- Quat4d representation of the rotational component.translation
- Vector3d representation of the traslational component.public void getRotationToWorld(javax.vecmath.Matrix3d rotation)
rotation
- Matrix3d containing the rotational component.public void getRotationToWorld(javax.vecmath.Quat4d rotation)
rotation
- Quat4d to store the rotational transform.public void getTranslationToWorld(javax.vecmath.Vector3d translation)
translation
- Vector3d representing the translation between world and joint space.public void getXYZToWorld(DoubleYoVariable x, DoubleYoVariable y, DoubleYoVariable z)
x
- YoVariable to store the x component.y
- YoVariable to store the y component.z
- YoVariable to store the z component.public void getYawPitchRollToWorld(DoubleYoVariable yaw, DoubleYoVariable pitch, DoubleYoVariable roll)
yaw
- YoVariable to store yaw.pitch
- YoVariable to store pitch.roll
- YoVariable to store roll.public double[] get3DRotation()
public void getLinearVelocityInBody(javax.vecmath.Vector3d linearVelocityInBodyToPack, javax.vecmath.Vector3d pointInBody)
public void getLinearVelocityInWorld(javax.vecmath.Vector3d linearVelocityInWorldToPack, javax.vecmath.Vector3d pointInBody)
public void getAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBodyToPack)
public void getAngularVelocityInWorld(javax.vecmath.Vector3d angularVelocityInWorldToPack)
public void getLinearAccelerationInBody(javax.vecmath.Vector3d linearAccelerationInBodyToPack, javax.vecmath.Vector3d pointInBody)
public void getLinearAccelerationInWorld(javax.vecmath.Vector3d linearAccelerationInWorldToPack, javax.vecmath.Vector3d pointInBody)
public void getAngularAccelerationsInBodyFrame(javax.vecmath.Vector3d angularAccelerationToPack)
public void getAngularAccelerationsInWorld(javax.vecmath.Vector3d angularAccelerationInWorldToPack)
public void recursiveDecideGroundContactPointsInContact()
public void recursiveUpdateAllGroundContactPointVelocities()
public void freezeFrame()
public boolean freezeNextFrame()
public void resetFreezeFrame()
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