com.yobotics.simulationconstructionset
Class FloatingPlanarJoint

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Joint
      extended by com.yobotics.simulationconstructionset.FloatingPlanarJoint
All Implemented Interfaces:
java.io.Serializable, CommonJoint

public class FloatingPlanarJoint
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

Field Summary
static int XY
           
static int XZ
           
static int YZ
           
 
Fields inherited from class com.yobotics.simulationconstructionset.Joint
MAX_ROT_ACCEL, MAX_TRANS_ACCEL
 
Constructor Summary
FloatingPlanarJoint(java.lang.String jname, Robot rob)
           
FloatingPlanarJoint(java.lang.String jname, Robot rob, int type)
           
FloatingPlanarJoint(java.lang.String jname, java.lang.String varName, Robot rob, int type)
           
 
Method Summary
 DoubleYoVariable getQ_rot()
           
 DoubleYoVariable getQ_t1()
           
 DoubleYoVariable getQ_t2()
           
 DoubleYoVariable getQd_rot()
           
 DoubleYoVariable getQd_t1()
           
 DoubleYoVariable getQd_t2()
           
 DoubleYoVariable getQdd_rot()
           
 DoubleYoVariable getQdd_t1()
           
 DoubleYoVariable getQdd_t2()
           
 int getType()
           
 void setCartesianPosition(double t1, double t2)
           
 void setCartesianPosition(double t1, double t2, double t1Dot, double t2Dot)
           
 void setCartesianPosition(javax.vecmath.Tuple2d position, javax.vecmath.Tuple2d velocity)
           
 void setCartesianVelocity(javax.vecmath.Tuple2d velocity)
           
 void setRotation(double theta)
           
 void setRotation(double theta, double thetaDot)
           
 void setRotationalVelocity(double thetaDot)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.Joint
addCameraMount, addExternalForcePoint, addGroundContactPoint, addGroundContactPoint, addIMUMount, addJoint, addKinematicPoint, addSensor, changeOffsetVector, changeOffsetVector, freezeFrame, freezeNextFrame, get3DRotation, getAngularAccelerationsInBodyFrame, getAngularAccelerationsInWorld, getAngularVelocityInBody, 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
 

Field Detail

XY

public static final int XY
See Also:
Constant Field Values

YZ

public static final int YZ
See Also:
Constant Field Values

XZ

public static final int XZ
See Also:
Constant Field Values
Constructor Detail

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           Robot rob)

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           Robot rob,
                           int type)

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           java.lang.String varName,
                           Robot rob,
                           int type)
Method Detail

getQ_t1

public DoubleYoVariable getQ_t1()

getQ_t2

public DoubleYoVariable getQ_t2()

getQd_t1

public DoubleYoVariable getQd_t1()

getQd_t2

public DoubleYoVariable getQd_t2()

getQ_rot

public DoubleYoVariable getQ_rot()

getQd_rot

public DoubleYoVariable getQd_rot()

getQdd_t1

public DoubleYoVariable getQdd_t1()

getQdd_t2

public DoubleYoVariable getQdd_t2()

getQdd_rot

public DoubleYoVariable getQdd_rot()

setCartesianPosition

public void setCartesianPosition(double t1,
                                 double t2)

setCartesianPosition

public void setCartesianPosition(double t1,
                                 double t2,
                                 double t1Dot,
                                 double t2Dot)

setCartesianPosition

public void setCartesianPosition(javax.vecmath.Tuple2d position,
                                 javax.vecmath.Tuple2d velocity)

setCartesianVelocity

public void setCartesianVelocity(javax.vecmath.Tuple2d velocity)

setRotation

public void setRotation(double theta)

setRotation

public void setRotation(double theta,
                        double thetaDot)

setRotationalVelocity

public void setRotationalVelocity(double thetaDot)

getType

public int getType()