|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectcom.yobotics.simulationconstructionset.Joint
com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint
com.yobotics.simulationconstructionset.SliderJoint
public class SliderJoint
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms. A translational joint with a single degree of freedom. This joint allows motion up and down the specified joint axis. This is a fundamental joint type which is currently used in the implementation of cylinder joint.
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
Field Summary |
---|
Fields inherited from class com.yobotics.simulationconstructionset.Joint |
---|
MAX_ROT_ACCEL, MAX_TRANS_ACCEL |
Constructor Summary | |
---|---|
SliderJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob,
Axis jaxis)
Constructs a new slider joint and adds it to the specified Robot. |
|
SliderJoint(java.lang.String jname,
javax.vecmath.Vector3d offset,
Robot rob,
javax.vecmath.Vector3d u_hat)
Creates a new slider joint and adds it to the specified robot. |
Method Summary | |
---|---|
double |
getDamping()
|
DoubleYoVariable |
getQ()
Retrieves the current position of this joint. |
DoubleYoVariable |
getQD()
Retrieves the current velocity of this joint. |
DoubleYoVariable |
getQDD()
Retrieves the current acceleration of this joint. |
void |
getState(double[] state)
Retrieves the current velocity and postion storing those values into the provided double array. |
DoubleYoVariable |
getTau()
Retrieves the torque currently applied at this joint. |
double |
getTorqueLimit()
|
double |
getVelocityLimit()
|
void |
setDamping(double b_damp)
Sets a global velocity damping constant. |
void |
setDampingParameterOnly(double b_damp)
|
void |
setInitialState(double q_init,
double qd_init)
Sets the initial velocity and position for this joint. |
void |
setLimitStops(double q_min,
double q_max,
double k_limit,
double b_limit)
Allows the definition of positional limit stops for this joint. |
void |
setQ(double q)
|
void |
setQd(double qd)
|
void |
setQdd(double qdd)
|
void |
setTau(double tau)
Sets the current torque at this joint. |
Methods inherited from class com.yobotics.simulationconstructionset.OneDegreeOfFreedomJoint |
---|
doPDControl, getKd, getKp, getQdDesired, getqDesired, setKd, setKp, setQdDesired, setqDesired |
Methods inherited from class java.lang.Object |
---|
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
---|
public SliderJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob, Axis jaxis)
jname
- name of this jointoffset
- Vector3d defining the offset from the robot origin to the jointrob
- Robot to which this joint belongsjaxis
- int representing the joint axispublic SliderJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob, javax.vecmath.Vector3d u_hat)
jname
- name of this jointoffset
- Vector3d defining the offset from the robot origin to the jointrob
- Robot to which this joint belongsu_hat
- Vector3d defining the joint axis in world coordinatesMethod Detail |
---|
public void setLimitStops(double q_min, double q_max, double k_limit, double b_limit)
q_min
- minimum position for this jointq_max
- maximum position for this jointk_limit
- spring constant used in torque calculationsb_limit
- damping constant used in torque calculationspublic void setDampingParameterOnly(double b_damp)
public void setDamping(double b_damp)
setDamping
in class OneDegreeOfFreedomJoint
b_damp
- new damping constantpublic void setInitialState(double q_init, double qd_init)
q_init
- initial positionqd_init
- initial velocitypublic void setQ(double q)
setQ
in class OneDegreeOfFreedomJoint
public void setQd(double qd)
setQd
in class OneDegreeOfFreedomJoint
public void getState(double[] state)
state
- array in which the state is to be storedpublic void setTau(double tau)
setTau
in class OneDegreeOfFreedomJoint
tau
- torque to be appliedpublic DoubleYoVariable getQ()
getQ
in class OneDegreeOfFreedomJoint
public DoubleYoVariable getQD()
getQD
in class OneDegreeOfFreedomJoint
public DoubleYoVariable getQDD()
getQDD
in class OneDegreeOfFreedomJoint
public DoubleYoVariable getTau()
getTau
in class OneDegreeOfFreedomJoint
public void setQdd(double qdd)
setQdd
in class OneDegreeOfFreedomJoint
public double getDamping()
getDamping
in class OneDegreeOfFreedomJoint
public double getTorqueLimit()
getTorqueLimit
in class OneDegreeOfFreedomJoint
public double getVelocityLimit()
getVelocityLimit
in class OneDegreeOfFreedomJoint
|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |