com.yobotics.simulationconstructionset
Class SpatialVector
java.lang.Object
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
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
SpatialVector
public SpatialVector()
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)