artisynth.core.mechmodels

Class CoordinateSetter

java.lang.Object

artisynth.core.mechmodels.CoordinateSetter

public class CoordinateSetter
extends java.lang.Object

Sets coordinate values for joints within a MechModel, while updating adjacent bodies and respecting all kinematic constraints. More specifically, this class:

1. Allows an arbitrary set of coordinates to be set across different joints.
2. Updates the poses of adjacent bodies in the joints' kinematic strucure.
3. Ensures the correct computation of coordinate values in situations where they are coupled due to kinematic lopps and constraints.
4. Updates muscle wrap paths.

Internally, coordinates are set in a series of substeps to ensure that wrap path integrity is maintained.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CoordinateSetter.SetStatus Return status for set requests undertaken by the coordinate setter.

Field Summary

Fields

Modifier and Type	Field and Description
boolean	debug

Constructor Summary

Constructors

Constructor and Description
CoordinateSetter(MechModel mech) Creates a new CoordinateSetter for setting joint coordinates within the specified MechModel.
CoordinateSetter(MechModel mech, java.util.Collection<? extends PointSpringBase> springs) Creates a new CoordinateSetter for setting joint coordinates within the specified MechModel.

Method Summary

Modifier and Type	Method and Description
void	clearRequests() Clears any pending coordinate set requests, so that if setCoordinates(), is called immediately after, no actions will be taken.
void	clearSolveCounts() Clears the cummulative solve and iteration counts.
int	numIterations() Return the cummulative number of solve iterations for coordinates associated with kinematic loops.
void	request(JointBase joint, int idx, double value) Requests that a specific coordinate by set to a given value.
void	request(JointCoordinateHandle handle, double value) Requests that a specific coordinate by set to a given value.
void	requestDeg(JointBase joint, int idx, double value) Requests that a specific coordinate by set to a given value.
void	requestDeg(JointCoordinateHandle handle, double value) Requests that a specific coordinate by set to a given value.
CoordinateSetter.SetStatus	setCoordinate(JointBase joint, int idx, double value) Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed.
CoordinateSetter.SetStatus	setCoordinate(JointCoordinateHandle handle, double value) Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed.
CoordinateSetter.SetStatus	setCoordinateDeg(JointBase joint, int idx, double value) Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed.
CoordinateSetter.SetStatus	setCoordinateDeg(JointCoordinateHandle handle, double value) Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed.
CoordinateSetter.SetStatus	setCoordinates() Attempts to satisfy all coordinate set requests that have been placed by the request methods, while keeping all other coordinate values fixed.

Methods inherited from class java.lang.Object

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

Field Detail

debug

public boolean debug

Constructor Detail

CoordinateSetter

public CoordinateSetter(MechModel mech)

Creates a new CoordinateSetter for setting joint coordinates within the specified MechModel.

Parameters:

mech - MechModel in which the coordinates are located

CoordinateSetter

public CoordinateSetter(MechModel mech,
                        java.util.Collection<? extends PointSpringBase> springs)

Creates a new CoordinateSetter for setting joint coordinates within the specified MechModel. An optional springs argument specifies specific spring components that should be updated as coordinates are set. Otherwise, all springs in the MechModel will be updated.

Parameters:

mech - MechModel in which the coordinates are located

springs - if non-null, specifies which springs should be updated

Method Detail

request

public void request(JointBase joint,
                    int idx,
                    double value)

Requests that a specific coordinate by set to a given value. The set operation will be deferred until the next call to setCoordinates(), which will then attempt to resolve all pending requests at once.

Parameters:

joint - joint containing the coordinate

idx - coordinate index with respect to the joint

value - value to set the coordinate to. Should be given in radians for rotary coordinates.

request

public void request(JointCoordinateHandle handle,
                    double value)

Requests that a specific coordinate by set to a given value. The set operation will be deferred until the next call to setCoordinates(), which will then attempt to resolve all pending requests at once.

Parameters:

handle - handle describing the coordinate

value - value to set the coordinate to. Should be given in radians for rotary coordinates.

requestDeg

public void requestDeg(JointBase joint,
                       int idx,
                       double value)

Requests that a specific coordinate by set to a given value. The set operation will be deferred until the next call to setCoordinates(), which will then attempt to resolve all pending requests at once.

Parameters:

joint - joint containing the coordinate

idx - coordinate index with respect to the joint

value - value to set the coordinate to. Should be given in degrees for rotary coordinates.

requestDeg

public void requestDeg(JointCoordinateHandle handle,
                       double value)

Requests that a specific coordinate by set to a given value. The set operation will be deferred until the next call to setCoordinates(), which will then attempt to resolve all pending requests at once.

Parameters:

handle - handle describing the coordinate

value - value to set the coordinate to. Should be given in degrees for rotary coordinates.

clearRequests

public void clearRequests()

Clears any pending coordinate set requests, so that if setCoordinates(), is called immediately after, no actions will be taken.

setCoordinateDeg

public CoordinateSetter.SetStatus setCoordinateDeg(JointCoordinateHandle handle,
                                                   double value)

Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed. This will generally not be possible if the coordinate is embedded within a kinematic loop. A returned status value gives information about how well the operation succeeded.

Parameters:

handle - handle describing the coordinate

value - value to set the coordinate to. Should be given in degrees for rotary coordinates.

Returns:

status information about how well the operation succeeded

setCoordinateDeg

public CoordinateSetter.SetStatus setCoordinateDeg(JointBase joint,
                                                   int idx,
                                                   double value)

Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed. This will generally not be possible if the coordinate is embedded within a kinematic loop. A returned status value gives information about how well the operation succeeded.

Parameters:

joint - joint containing the coordinate

idx - coordinate index with respect to the joint

value - value to set the coordinate to. Should be given in degrees for rotary coordinates.

Returns:

status information about how well the operation succeeded

numIterations

public int numIterations()

Return the cummulative number of solve iterations for coordinates associated with kinematic loops.

clearSolveCounts

public void clearSolveCounts()

Clears the cummulative solve and iteration counts.

setCoordinate

public CoordinateSetter.SetStatus setCoordinate(JointBase joint,
                                                int idx,
                                                double value)

Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed. This will generally not be possible if the coordinate is embedded within a kinematic loop. A returned status value gives information about how well the operation succeeded.

Parameters:

joint - joint containing the coordinate

idx - coordinate index with respect to the joint

value - value to set the coordinate to. Should be given in radian for rotary coordinates.

Returns:

status information about how well the operation succeeded

setCoordinate

public CoordinateSetter.SetStatus setCoordinate(JointCoordinateHandle handle,
                                                double value)

Sets a specific coordinate to a specific value, while attempting to keep all other coordinate values fixed. This will generally not be possible if the coordinate is embedded within a kinematic loop. A returned status value gives information about how well the operation succeeded.

Parameters:

handle - handle describing the coordinate

value - value to set the coordinate to. Should be given in radian for rotary coordinates.

Returns:

status information about how well the operation succeeded

setCoordinates

public CoordinateSetter.SetStatus setCoordinates()

Attempts to satisfy all coordinate set requests that have been placed by the request methods, while keeping all other coordinate values fixed. This will generally not be possible if any of the requested coordinates are embedded within a kinematic loop. A returned status value gives information about how the operation fared.

Returns:

status information about how well the operation succeeded