maspack.spatialmotion

Class ParameterizedCoupling

java.lang.Object

maspack.spatialmotion.RigidBodyCoupling

maspack.spatialmotion.ParameterizedCoupling

public class ParameterizedCoupling
extends RigidBodyCoupling

Experimental coupling based on projected 2D curves

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ParameterizedCoupling.LimitType

Field Summary

Fields

Modifier and Type	Field and Description
static double	EPSILON

Fields inherited from class maspack.spatialmotion.RigidBodyCoupling

BILATERAL, LINEAR, ROTARY, useNewDerivatives

Constructor Summary

Constructors

Constructor and Description
ParameterizedCoupling(ParameterizedCoupling.LimitType type)

Method Summary

Modifier and Type	Method and Description
void	getConstraintInfo(maspack.spatialmotion.RigidBodyCoupling.ConstraintInfo[] info, RigidTransform3d TGD, RigidTransform3d TCD, RigidTransform3d XERR, boolean setEngaged) Computes the constraint frame G and the associated constraint information.
ProjectedCurve3D	getLimitCurve()
ParameterizedCoupling.LimitType	getLimitType()
double	getRoll(RigidTransform3d TGD)
void	getRollRange(double[] minmax) Gets the minimum and maximum values for the coupling's roll angle (in radians).
boolean	hasRestrictedRollRange() Returns true if this coupling has a range restriction;
void	initializeConstraintInfo(maspack.spatialmotion.RigidBodyCoupling.ConstraintInfo[] info)
int	maxUnilaterals() Returns the maximum number of unilateral constraints associated with this coupling.
int	numBilaterals() Returns the number of bilateral constraints associated with this coupling.
void	projectToConstraint(RigidTransform3d TGD, RigidTransform3d TCD) Computes the frame G on the constraint surface which is closest to a given frame C.
void	setLimitCurve(ProjectedCurve3D curve)
void	setRoll(RigidTransform3d TGD, double roll)
void	setRollRange(double min, double max) Sets the minimum and maximum values for the coupling's roll angle (in radians).

Methods inherited from class maspack.spatialmotion.RigidBodyCoupling

findNearestAngle, getAuxState, getBilateralConstraints, getBilateralForceG, getBilateralImpulses, getBreakAccel, getBreakSpeed, getCompliance, getConstraint, getConstraintInfo, getContactDistance, getDamping, getInitialAuxState, getUnilateralConstraints, getUnilateralForceG, getUnilateralImpulses, maxConstraints, numUnilaterals, printConstraintInfo, scaleDistance, setAuxState, setBilateralImpulses, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setDamping, setDistanceAndZeroDerivative, setDistancesAndZeroDerivatives, setUnilateralImpulses, skipAuxState, transformGeometry, updateBodyStates, updateConstraintsFromC, updateUnilateralConstraints, zeroImpulses

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

EPSILON

public static double EPSILON

Constructor Detail

ParameterizedCoupling

public ParameterizedCoupling(ParameterizedCoupling.LimitType type)

Method Detail

getLimitType

public ParameterizedCoupling.LimitType getLimitType()

setRollRange

public void setRollRange(double min,
                         double max)

Sets the minimum and maximum values for the coupling's roll angle (in radians). These only have an effect if the current range type is ParameterizedCoupling.LimitType.ROLL or ParameterizedCoupling.LimitType.ROLL_CURVE.

Parameters:

min - Minimum roll angle

max - Maximum roll angle

getRollRange

public void getRollRange(double[] minmax)

Gets the minimum and maximum values for the coupling's roll angle (in radians).

Parameters:

minmax - used to return the minimum and maximum values

See Also:

setRollRange(double, double)

setLimitCurve

public void setLimitCurve(ProjectedCurve3D curve)

getLimitCurve

public ProjectedCurve3D getLimitCurve()

maxUnilaterals

public int maxUnilaterals()

Description copied from class: RigidBodyCoupling

Returns the maximum number of unilateral constraints associated with this coupling.

Specified by:

maxUnilaterals in class RigidBodyCoupling

Returns:

maximum number of unilateral constraints

numBilaterals

public int numBilaterals()

Description copied from class: RigidBodyCoupling

Returns the number of bilateral constraints associated with this coupling.

Specified by:

numBilaterals in class RigidBodyCoupling

Returns:

number of bilateral constraints

projectToConstraint

public void projectToConstraint(RigidTransform3d TGD,
                                RigidTransform3d TCD)

Description copied from class: RigidBodyCoupling

Computes the frame G on the constraint surface which is closest to a given frame C. The input consists of the transform from C to D.

Specified by:

projectToConstraint in class RigidBodyCoupling

Parameters:

TGD - returns the transform from G to D

TCD - transform from frame C to D

setRoll

public void setRoll(RigidTransform3d TGD,
                    double roll)

initializeConstraintInfo

public void initializeConstraintInfo(maspack.spatialmotion.RigidBodyCoupling.ConstraintInfo[] info)

Specified by:

initializeConstraintInfo in class RigidBodyCoupling

getRoll

public double getRoll(RigidTransform3d TGD)

hasRestrictedRollRange

public boolean hasRestrictedRollRange()

Returns true if this coupling has a range restriction;

getConstraintInfo

public void getConstraintInfo(maspack.spatialmotion.RigidBodyCoupling.ConstraintInfo[] info,
                              RigidTransform3d TGD,
                              RigidTransform3d TCD,
                              RigidTransform3d XERR,
                              boolean setEngaged)

Description copied from class: RigidBodyCoupling

Computes the constraint frame G and the associated constraint information. G is determined by projecting C onto the constraint surface.

Information for each constraint wrench is returned through an array of ConstraintInfo objects supplied by the argument info. This array should have a fixed number of elements equal to the number of bilateral constraints plus the maximum number of unilateral constraints. Bilateral constraints appear first, followed by the unilateral constraints. Constraint wrenches and their derivatives (with respect to frame G) are set within the fields wrenchC and dotWrenchC, repsectively. Distances to set within the distance; each of these should be the dot product of the wrench with the linearization of the constraint error TCG. For computing wrench derivatives, this method may use myVelBA, which gives the current velocity of B with repsect to A, in coordinate frame D. Information only needs to be returned for constraints which are potentially active, or engaged. Constraints which are engaged have their ConstraintInfo.engaged field set to a non-zero value. Bilateral constraints are always engaged, and their ConstraintInfo.engaged field is automatically set to 1 by the system. For unilateral constraints, the determination of whether or not the constraint is engaged, and the setting of the engaged field, should be done by this method if the argument setEngaged is true. Otherwise, if setEngaged is false, the method should take the engaged settings as given. Constraints which are engaged are those which are returned by the calls getBilateralConstraints or getUnilateralConstraints.

Specified by:

getConstraintInfo in class RigidBodyCoupling

Parameters:

info - used to return information for each possible constraint wrenches

TGD - returns the transform from G to D

TCD - transform from operation frame C to D

XERR - TODO

setEngaged - if true, this method should determine if the constraint is engaged.