com.yobotics.simulationconstructionset
Class OneDegreeOfFreedomJoint

java.lang.Object
  extended by com.yobotics.simulationconstructionset.Joint
      extended by com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint
All Implemented Interfaces:
java.io.Serializable, CommonJoint
Direct Known Subclasses:
PinJoint, SliderJoint

public abstract class OneDegreeOfFreedomJoint
extends Joint

See Also:
Serialized Form

Field Summary
 
Fields inherited from class com.yobotics.simulationconstructionset.Joint
MAX_ROT_ACCEL, MAX_TRANS_ACCEL
 
Constructor Summary
OneDegreeOfFreedomJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob)
           
 
Method Summary
 double doPDControl()
           
abstract  double getDamping()
           
 double getKd()
           
 double getKp()
           
abstract  DoubleYoVariable getQ()
           
abstract  DoubleYoVariable getQD()
           
abstract  DoubleYoVariable getQDD()
           
 double getQdDesired()
           
 double getqDesired()
           
abstract  DoubleYoVariable getTau()
           
abstract  double getTorqueLimit()
           
abstract  double getVelocityLimit()
           
abstract  void setDamping(double b_damp)
           
 void setKd(double kd)
           
 void setKp(double kp)
           
abstract  void setQ(double q)
           
abstract  void setQd(double qd)
           
abstract  void setQdd(double qdd)
           
 void setQdDesired(double qdDesired)
           
 void setqDesired(double qDesired)
           
abstract  void setTau(double tau)
           
 
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
 

Constructor Detail

OneDegreeOfFreedomJoint

public OneDegreeOfFreedomJoint(java.lang.String jname,
                               javax.vecmath.Vector3d offset,
                               Robot rob)
Method Detail

getQDD

public abstract DoubleYoVariable getQDD()

getQD

public abstract DoubleYoVariable getQD()

getQ

public abstract DoubleYoVariable getQ()

setQdd

public abstract void setQdd(double qdd)

setQd

public abstract void setQd(double qd)

setQ

public abstract void setQ(double q)

setTau

public abstract void setTau(double tau)

getTau

public abstract DoubleYoVariable getTau()

getDamping

public abstract double getDamping()

setDamping

public abstract void setDamping(double b_damp)

getTorqueLimit

public abstract double getTorqueLimit()

getVelocityLimit

public abstract double getVelocityLimit()

getKp

public double getKp()

getKd

public double getKd()

getqDesired

public double getqDesired()

getQdDesired

public double getQdDesired()

setKp

public void setKp(double kp)

setKd

public void setKd(double kd)

setqDesired

public void setqDesired(double qDesired)

setQdDesired

public void setQdDesired(double qdDesired)

doPDControl

public double doPDControl()