com.yobotics.simulationconstructionset
Class FloatingPlanarJoint
java.lang.Object
com.yobotics.simulationconstructionset.Joint
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
|
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 |
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
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)
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()