com.yobotics.simulationconstructionset
Class SpatialVector

java.lang.Object
  extended by com.yobotics.simulationconstructionset.SpatialVector
All Implemented Interfaces:
java.io.Serializable

public final class SpatialVector
extends java.lang.Object
implements java.io.Serializable

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
SpatialVector()
           
 
Method Summary
 void add(SpatialVector sV)
           
 void add(SpatialVector sV1, SpatialVector sV2)
           
 void getBottom(javax.vecmath.Vector3d bottomToPack)
           
 double getBottomX()
           
 double getBottomY()
           
 double getBottomZ()
           
 void getMatrix(Matrix M)
           
 void getPlanarXYMatrix(Matrix M)
           
 void getPlanarXZMatrix(Matrix M)
           
 void getPlanarYZMatrix(Matrix M)
           
 void getTop(javax.vecmath.Vector3d topToPack)
           
 double getTopX()
           
 double getTopY()
           
 double getTopZ()
           
 double innerProduct(SpatialVector sV)
           
 void scale(double t)
           
 void set(SpatialVector sV)
           
 void setFromVector3d(javax.vecmath.Vector3d v1, javax.vecmath.Vector3d v2)
           
 void setInitArticulatedZeroAccel(double mass, javax.vecmath.Vector3d w_i, javax.vecmath.Matrix3d Inertia, javax.vecmath.Matrix3d Ri_0, double gX, double gY, double gZ)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

SpatialVector

public SpatialVector()
Method Detail

getTop

public void getTop(javax.vecmath.Vector3d topToPack)

getBottom

public void getBottom(javax.vecmath.Vector3d bottomToPack)

getTopX

public double getTopX()

getTopY

public double getTopY()

getTopZ

public double getTopZ()

getBottomX

public double getBottomX()

getBottomY

public double getBottomY()

getBottomZ

public double getBottomZ()

setFromVector3d

public void setFromVector3d(javax.vecmath.Vector3d v1,
                            javax.vecmath.Vector3d v2)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

set

public void set(SpatialVector sV)

getMatrix

public final void getMatrix(Matrix M)

getPlanarXYMatrix

public void getPlanarXYMatrix(Matrix M)

getPlanarXZMatrix

public void getPlanarXZMatrix(Matrix M)

getPlanarYZMatrix

public void getPlanarYZMatrix(Matrix M)

scale

public void scale(double t)

add

public void add(SpatialVector sV)

add

public void add(SpatialVector sV1,
                SpatialVector sV2)

innerProduct

public double innerProduct(SpatialVector sV)

setInitArticulatedZeroAccel

public void setInitArticulatedZeroAccel(double mass,
                                        javax.vecmath.Vector3d w_i,
                                        javax.vecmath.Matrix3d Inertia,
                                        javax.vecmath.Matrix3d Ri_0,
                                        double gX,
                                        double gY,
                                        double gZ)