artisynth.core.mechmodels

Class CoordinateSolver

java.lang.Object

artisynth.core.mechmodels.StaticRigidBodySolver

artisynth.core.mechmodels.CoordinateSolver

public class CoordinateSolver
extends StaticRigidBodySolver

Used by CoordinateSetter to set the coordinate values for joints within a specific joint node of a kinematic tree. This is needed in situations where the joint nodes's joints and constrainers form a kinematic loop of some kind and therefore coordinate values cannot be set independently.

Field Summary

Fields

Modifier and Type	Field and Description
boolean	applyPolish
boolean	debug
double	MAX_REVERSE_CNT
double	MAX_REVERSE_COS
boolean	printCtrlChanges
boolean	uniformWeighting

Constructor Summary

Constructors

Constructor and Description
CoordinateSolver(MechModel mech) Creates a new CoordinateSolver for setting joint coordinates within the specified MechModel.

Method Summary

Methods inherited from class artisynth.core.mechmodels.StaticRigidBodySolver

findFixedBody, getBodies, getBodyPoses, getConstrainers, getCoordinateHandles, getMechModel, getModelSize, isConnectedToGround, numBodies, projectToConstraints, resetBodiesDynamic, restoreModelState, saveModelState, setBodiesAndConstrainers, setBodiesDynamic, setModelSize, transformBodyPoses

Methods inherited from class java.lang.Object

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

Field Detail

uniformWeighting

public boolean uniformWeighting

printCtrlChanges

public boolean printCtrlChanges

applyPolish

public boolean applyPolish

MAX_REVERSE_COS

public final double MAX_REVERSE_COS

See Also:

Constant Field Values

MAX_REVERSE_CNT

public final double MAX_REVERSE_CNT

See Also:

Constant Field Values

debug

public boolean debug

Constructor Detail

CoordinateSolver

public CoordinateSolver(MechModel mech)

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

Parameters:

mech - MechModel in which the coordinates are located