public class JointActuator extends ModelComponentBase implements ExcitationComponent, ForceComponent, HasNumericState, ScalableUnits
excitation
property, which is then scaled by the forceScale property to
determine the actual applied force.ExcitationComponent.CombinationRuleModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility| Modifier and Type | Field and Description |
|---|---|
static boolean |
DEFAULT_ENABLED |
static double |
DEFAULT_EXCITATION |
static double |
DEFAULT_FORCE_SCALE |
static PropertyList |
myProps |
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames| Constructor and Description |
|---|
JointActuator()
No-args constructor needed for write/scan.
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JointActuator(JointCoordinateHandle ch,
double forceScale)
Creates an unnamed JointActuator from a specified coordinate handle.
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JointActuator(java.lang.String name,
JointBase joint,
int idx,
double forceScale)
Creates a named JointActuator from a specified joint and coordinate index.
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JointActuator(java.lang.String name,
JointCoordinateHandle ch,
double forceScale)
Creates a named JointActuator from a specified coordinate handle.
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| Modifier and Type | Method and Description |
|---|---|
void |
addExcitationSource(ExcitationComponent ex,
double gain)
Adds a new excitation source to this Excitable with a specified gain.
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void |
addPosJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the position Jacobian associated with this force
effector and adds it to the supplied solve matrix M.
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void |
addSolveBlocks(SparseNumberedBlockMatrix M)
Adds any needed blocks to a solve matrix in order to accomodate the
Jacobian terms associated with this force effector.
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void |
addVelJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the velocity Jacobian associated with this force
effector and adds it to the supplied solve matrix M.
|
void |
applyForces(double t)
Adds forces to the components affected by this force effector at a
particular time.
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static java.util.ArrayList<JointActuator> |
createActuators(MechModel mech,
JointBase joint,
double forceScale)
Creates a complete set of JointActuators for all coordinates associated
with a specific joint.
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PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by
this object.
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ExcitationComponent.CombinationRule |
getCombinationRule()
Return the combination rule for excitations.
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JointCoordinateHandle |
getCoordinateHandle()
Returns the handle for the coordinate/joint pair used by this
JointActuator.
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double |
getExcitation()
Queries the excitation associated with this JointActuator.
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double |
getExcitationGain(ExcitationComponent ex)
Gets the gain for an excitation source in this component.
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double |
getForceScale()
Queries the force scale associated with this JointActuator.
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void |
getHardReferences(java.util.List<ModelComponent> refs)
Appends all hard references for this component to a list.
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int |
getJacobianType()
Returns a code indicating the matrix type that results when the Jacobian
terms of this force effector are added to the solve matrix.
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double |
getNetExcitation()
Returns the net excitation for this Excitable.
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void |
getSoftReferences(java.util.List<ModelComponent> refs)
Appends all soft references for this component to a list.
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void |
getState(DataBuffer data)
Saves state information for this component by adding data to the
supplied DataBuffer.
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boolean |
hasState()
Queries if this component has state.
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boolean |
isEnabled()
Queries whether this actuator is enabled.
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boolean |
removeExcitationSource(ExcitationComponent ex)
Removes an excitation source from this Excitable.
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void |
scaleDistance(double s)
Scales all distance coordinates.
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void |
scaleMass(double s)
Scales all mass units.
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void |
setCombinationRule(ExcitationComponent.CombinationRule rule)
Sets the rule for combining excitations.
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void |
setEnabled(boolean enabled)
Sets whether or not this actuator is enabled.
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void |
setExcitation(double e)
Sets the excitation associated with this JointActuator.
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boolean |
setExcitationGain(ExcitationComponent ex,
double gain)
Sets the gain for an excitation source in this component.
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void |
setForceScale(double s)
Sets the force scale associated with this JointActuator.
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void |
setState(DataBuffer data)
Restores the state for this component by reading from the supplied
data buffer, starting at the current buffer offsets.
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void |
updateReferences(boolean undo,
java.util.Deque<java.lang.Object> undoInfo)
May be called by the system if any of the soft references for
this component are removed from the the component hierarchy.
|
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, writeequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitconnectToHierarchy, disconnectFromHierarchy, getName, getNavpanelVisibility, getNumber, getParent, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritablegetPropertygetChildren, hasChildrenpostscanisWritable, writeadvanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarStatepublic static final boolean DEFAULT_ENABLED
public static final double DEFAULT_FORCE_SCALE
public static final double DEFAULT_EXCITATION
public static PropertyList myProps
public JointActuator()
public JointActuator(java.lang.String name,
JointCoordinateHandle ch,
double forceScale)
name - name of the JointActuator (can be null)ch - handle describing the coordinate and its jointforceScale - excitation scale factor that determines the actual applied forcepublic JointActuator(JointCoordinateHandle ch, double forceScale)
ch - handle describing the coordinate and its jointforceScale - excitation scale factor that determines the actual applied forcepublic JointActuator(java.lang.String name,
JointBase joint,
int idx,
double forceScale)
name - name of the JointActuator (can be null)joint - joint containing the coordinateidx - index of the coordinate within the jointforceScale - excitation scale factor that determines the actual applied forcepublic PropertyList getAllPropertyInfo()
HasPropertiesgetAllPropertyInfo in interface HasPropertiesgetAllPropertyInfo in class ModelComponentBasepublic JointCoordinateHandle getCoordinateHandle()
public boolean isEnabled()
true if this actuator is enabledpublic void setEnabled(boolean enabled)
enabled - if true, enables this actuatorpublic void setForceScale(double s)
excitation * forceScale
s - force scalepublic double getForceScale()
setForceScale(double).public void setExcitation(double e)
excitation * forceScale
setExcitation in interface ExcitationComponente - excitation valuepublic double getExcitation()
setExcitation(double).getExcitation in interface ExcitationComponentpublic void applyForces(double t)
applyForces in interface ForceEffectort - time (seconds)public void addSolveBlocks(SparseNumberedBlockMatrix M)
getSolveIndex) for all dynamic or attached components affected by this
force effector.addSolveBlocks in interface ForceEffectorM - solve matrix to which blocks should be addedpublic void addPosJacobian(SparseNumberedBlockMatrix M, double s)
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addPosJacobian in interface ForceEffectorM - solve matrix to which scaled position Jacobian is to be addeds - scaling factor for position Jacobianpublic void addVelJacobian(SparseNumberedBlockMatrix M, double s)
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addVelJacobian in interface ForceEffectorM - solve matrix to which scaled velocity Jacobian is to be addeds - scaling factor for velocity Jacobianpublic int getJacobianType()
Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian
terms preserves symmetry, and the latter should be set if positive
definiteness if preserved. Both should be set if there is no Jacobian for
this effector (i.e., the Jacobian methods are not implemented). Matrix
types from all the force effectors are logically and-ed together to
determine the type for the entire solve matrix.getJacobianType in interface ForceEffectorpublic void getState(DataBuffer data)
getState in interface HasNumericStatedata - buffer for storing the state values.public void setState(DataBuffer data)
setState in interface HasNumericStatedata - buffer containing the state informationpublic boolean hasState()
hasState in interface HasNumericStatehasState in interface ModelComponenthasState in class ModelComponentBasetrue if this component has statepublic void setCombinationRule(ExcitationComponent.CombinationRule rule)
setCombinationRule in interface ExcitationComponentrule - rule for combining excitationspublic ExcitationComponent.CombinationRule getCombinationRule()
getCombinationRule in interface ExcitationComponentpublic void addExcitationSource(ExcitationComponent ex, double gain)
addExcitationSource in interface ExcitationComponentex - excitatation source to be addedgain - gain for the sourcepublic boolean setExcitationGain(ExcitationComponent ex, double gain)
setExcitationGain in interface ExcitationComponentex - excitatation source whose gain is to be modifiedgain - new gain for the sourcepublic double getExcitationGain(ExcitationComponent ex)
getExcitationGain in interface ExcitationComponentex - excitatation source whose gain is to be queriedpublic boolean removeExcitationSource(ExcitationComponent ex)
removeExcitationSource in interface ExcitationComponentex - excitatation source to be removedpublic double getNetExcitation()
getNetExcitation in interface ExcitationComponentpublic void updateReferences(boolean undo,
java.util.Deque<java.lang.Object> undoInfo)
undo equal to false,
this component should then examine its soft references and
use ComponentUtils.areConnected()
to determine which of them have been disconnected from the hierarchy.
Disconnected references should be removed, and sufficient information
should be appended to undoInfo to allow this update
to be undone if this method is called later with undo
equal to true. When undoing an update, the undo
information should be removed from the front of undoInfo.updateReferences in interface ModelComponentupdateReferences in class ModelComponentBaseundo - if true, indicates that the most
recent reference update should be undone, using the supplied
undo information.undoInfo - if undo is false, should be used
to store information allowing the reference update to be undone.
Otherwise, if undo is true, then this
supplied information to undo the most recent update.public void getSoftReferences(java.util.List<ModelComponent> refs)
updateReferences() method will
be called to update its internal reference information.getSoftReferences in interface ModelComponentgetSoftReferences in class ModelComponentBaserefs - list to which soft references are appendedpublic void getHardReferences(java.util.List<ModelComponent> refs)
getHardReferences in interface ModelComponentgetHardReferences in class ModelComponentBaserefs - list to which hard references are appendedpublic static java.util.ArrayList<JointActuator> createActuators(MechModel mech, JointBase joint, double forceScale)
mech - if non-null, adds the actuators to the MechModel's set of force effectorsjoint - joint for which the actuators should be createdforceScale - force scale for each actuatorpublic void scaleDistance(double s)
ScalableUnitsscaleDistance in interface ScalableUnitss - scaling factorpublic void scaleMass(double s)
ScalableUnitsscaleMass in interface ScalableUnitss - scaling factor