com.yobotics.simulationconstructionset
Class FloatingJoint
java.lang.Object
com.yobotics.simulationconstructionset.Joint
com.yobotics.simulationconstructionset.FloatingJoint
- All Implemented Interfaces:
- java.io.Serializable, CommonJoint
- Direct Known Subclasses:
- LaunchedBall
public class FloatingJoint
- extends Joint
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
Constructor Summary |
FloatingJoint(java.lang.String jname,
java.lang.String varName,
javax.vecmath.Vector3d offset,
Robot rob)
|
FloatingJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob)
|
Method Summary |
void |
getAngularAcceleration(FrameVector angularAccelerationToPack,
ReferenceFrame bodyFrame)
|
javax.vecmath.Vector3d |
getAngularAccelerationInBody()
|
void |
getAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBodyToPack)
|
DoubleYoVariable |
getAngularAccelerationX()
|
DoubleYoVariable |
getAngularAccelerationY()
|
DoubleYoVariable |
getAngularAccelerationZ()
|
void |
getAngularVelocity(FrameVector angularVelocityToPack,
ReferenceFrame bodyFrame)
|
javax.vecmath.Vector3d |
getAngularVelocityInBody()
|
void |
getAngularVelocityInBody(javax.vecmath.Vector3d vectorToPack)
|
DoubleYoVariable |
getAngularVelocityX()
|
DoubleYoVariable |
getAngularVelocityY()
|
DoubleYoVariable |
getAngularVelocityZ()
|
void |
getLinearAcceleration(FrameVector linearAccelerationToPack)
|
void |
getLinearAccelerationInWorld(javax.vecmath.Vector3d accelerationInWorldToPack)
|
void |
getPosition(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z)
|
void |
getPosition(javax.vecmath.Tuple3d position)
|
void |
getPositionAndVelocity(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z,
DoubleYoVariable xDot,
DoubleYoVariable yDot,
DoubleYoVariable zDot)
|
void |
getPositionAndVelocity(javax.vecmath.Tuple3d position,
javax.vecmath.Tuple3d velocity)
|
DoubleYoVariable |
getQddx()
|
DoubleYoVariable |
getQddy()
|
DoubleYoVariable |
getQddz()
|
DoubleYoVariable |
getQdx()
|
DoubleYoVariable |
getQdy()
|
DoubleYoVariable |
getQdz()
|
javax.vecmath.Quat4d |
getQuaternion()
|
void |
getQuaternion(javax.vecmath.Quat4d quaternionToPack)
|
DoubleYoVariable |
getQuaternionQs()
|
DoubleYoVariable |
getQuaternionQx()
|
DoubleYoVariable |
getQuaternionQy()
|
DoubleYoVariable |
getQuaternionQz()
|
DoubleYoVariable |
getQx()
|
DoubleYoVariable |
getQy()
|
DoubleYoVariable |
getQz()
|
void |
getVelocity(DoubleYoVariable xDot,
DoubleYoVariable yDot,
DoubleYoVariable zDot)
|
void |
getVelocity(FrameVector linearVelocityToPack)
|
void |
getVelocity(javax.vecmath.Tuple3d velocity)
|
void |
getYawPitchRoll(DoubleYoVariable yaw,
DoubleYoVariable pitch,
DoubleYoVariable roll)
|
void |
setAcceleration(javax.vecmath.Tuple3d acceleration)
|
void |
setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody)
|
void |
setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)
|
void |
setPosition(double x,
double y,
double z)
|
void |
setPosition(javax.vecmath.Tuple3d position)
|
void |
setPositionAndVelocity(double x,
double y,
double z,
double dx,
double dy,
double dz)
|
void |
setPositionAndVelocity(javax.vecmath.Tuple3d position,
javax.vecmath.Tuple3d velocity)
|
void |
setQuaternion(javax.vecmath.Quat4d q)
|
void |
setRotation(javax.vecmath.Matrix3d rotation)
|
void |
setRotationAndTranslation(javax.media.j3d.Transform3D transform)
|
void |
setVelocity(double xd,
double yd,
double zd)
|
void |
setVelocity(javax.vecmath.Tuple3d velocity)
|
void |
setYawPitchRoll(double yaw,
double pitch,
double roll)
|
void |
setYawPitchRoll(double yaw,
double pitch,
double roll,
double wz,
double wy,
double wx)
|
Methods inherited from class com.yobotics.simulationconstructionset.Joint |
addCameraMount, addExternalForcePoint, addGroundContactPoint, addGroundContactPoint, addIMUMount, addJoint, addKinematicPoint, addSensor, changeOffsetVector, changeOffsetVector, freezeFrame, freezeNextFrame, get3DRotation, getAngularAccelerationsInBodyFrame, getAngularAccelerationsInWorld, 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 |
FloatingJoint
public FloatingJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob)
FloatingJoint
public FloatingJoint(java.lang.String jname,
java.lang.String varName,
javax.vecmath.Vector3d offset,
Robot rob)
setPositionAndVelocity
public void setPositionAndVelocity(double x,
double y,
double z,
double dx,
double dy,
double dz)
setPositionAndVelocity
public void setPositionAndVelocity(javax.vecmath.Tuple3d position,
javax.vecmath.Tuple3d velocity)
setPosition
public void setPosition(javax.vecmath.Tuple3d position)
setPosition
public void setPosition(double x,
double y,
double z)
setVelocity
public void setVelocity(javax.vecmath.Tuple3d velocity)
setVelocity
public void setVelocity(double xd,
double yd,
double zd)
setAcceleration
public void setAcceleration(javax.vecmath.Tuple3d acceleration)
setYawPitchRoll
public void setYawPitchRoll(double yaw,
double pitch,
double roll)
setYawPitchRoll
public void setYawPitchRoll(double yaw,
double pitch,
double roll,
double wz,
double wy,
double wx)
setRotation
public void setRotation(javax.vecmath.Matrix3d rotation)
setQuaternion
public void setQuaternion(javax.vecmath.Quat4d q)
setRotationAndTranslation
public void setRotationAndTranslation(javax.media.j3d.Transform3D transform)
setAngularVelocityInBody
public void setAngularVelocityInBody(javax.vecmath.Vector3d angularVelocityInBody)
setAngularAccelerationInBody
public void setAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBody)
getPosition
public void getPosition(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z)
getVelocity
public void getVelocity(DoubleYoVariable xDot,
DoubleYoVariable yDot,
DoubleYoVariable zDot)
getVelocity
public void getVelocity(FrameVector linearVelocityToPack)
getAngularVelocity
public void getAngularVelocity(FrameVector angularVelocityToPack,
ReferenceFrame bodyFrame)
getPositionAndVelocity
public void getPositionAndVelocity(DoubleYoVariable x,
DoubleYoVariable y,
DoubleYoVariable z,
DoubleYoVariable xDot,
DoubleYoVariable yDot,
DoubleYoVariable zDot)
getPosition
public void getPosition(javax.vecmath.Tuple3d position)
getVelocity
public void getVelocity(javax.vecmath.Tuple3d velocity)
getPositionAndVelocity
public void getPositionAndVelocity(javax.vecmath.Tuple3d position,
javax.vecmath.Tuple3d velocity)
getQx
public DoubleYoVariable getQx()
getQy
public DoubleYoVariable getQy()
getQz
public DoubleYoVariable getQz()
getQdx
public DoubleYoVariable getQdx()
getQdy
public DoubleYoVariable getQdy()
getQdz
public DoubleYoVariable getQdz()
getQddx
public DoubleYoVariable getQddx()
getQddy
public DoubleYoVariable getQddy()
getQddz
public DoubleYoVariable getQddz()
getQuaternionQs
public DoubleYoVariable getQuaternionQs()
getQuaternionQx
public DoubleYoVariable getQuaternionQx()
getQuaternionQy
public DoubleYoVariable getQuaternionQy()
getQuaternionQz
public DoubleYoVariable getQuaternionQz()
getQuaternion
public javax.vecmath.Quat4d getQuaternion()
getQuaternion
public void getQuaternion(javax.vecmath.Quat4d quaternionToPack)
getAngularVelocityX
public DoubleYoVariable getAngularVelocityX()
getAngularVelocityY
public DoubleYoVariable getAngularVelocityY()
getAngularVelocityZ
public DoubleYoVariable getAngularVelocityZ()
getAngularVelocityInBody
public javax.vecmath.Vector3d getAngularVelocityInBody()
getAngularVelocityInBody
public void getAngularVelocityInBody(javax.vecmath.Vector3d vectorToPack)
- Overrides:
getAngularVelocityInBody
in class Joint
getAngularAccelerationX
public DoubleYoVariable getAngularAccelerationX()
getAngularAccelerationY
public DoubleYoVariable getAngularAccelerationY()
getAngularAccelerationZ
public DoubleYoVariable getAngularAccelerationZ()
getAngularAccelerationInBody
public javax.vecmath.Vector3d getAngularAccelerationInBody()
getAngularAccelerationInBody
public void getAngularAccelerationInBody(javax.vecmath.Vector3d angularAccelerationInBodyToPack)
getAngularAcceleration
public void getAngularAcceleration(FrameVector angularAccelerationToPack,
ReferenceFrame bodyFrame)
getLinearAccelerationInWorld
public void getLinearAccelerationInWorld(javax.vecmath.Vector3d accelerationInWorldToPack)
getLinearAcceleration
public void getLinearAcceleration(FrameVector linearAccelerationToPack)
getYawPitchRoll
public void getYawPitchRoll(DoubleYoVariable yaw,
DoubleYoVariable pitch,
DoubleYoVariable roll)