artisynth.core.mechmodels

Class JointCoordinateHandle

java.lang.Object

artisynth.core.mechmodels.JointCoordinateHandle

public class JointCoordinateHandle
extends java.lang.Object

Handle for accessing values and operations specific to a joint coordinate.

Constructor Summary

Constructors

Constructor and Description
JointCoordinateHandle()
JointCoordinateHandle(JointBase joint, int idx)
JointCoordinateHandle(JointCoordinateHandle ch)

Method Summary

Modifier and Type	Method and Description
void	addSolveBlocks(SparseNumberedBlockMatrix M)
void	addVelJacobian(SparseNumberedBlockMatrix M, double s)
void	applyForce(double f)
boolean	equals(JointCoordinateHandle jch) Checks if this coordinate handle equals another.
java.lang.String	getCoordinateName()
int	getIndex()
JointBase	getJoint()
RigidBodyConstraint.MotionType	getMotionType()
double	getSpeed()
double	getSpeedDeg()
double	getValue()
double	getValueDeg()
Range	getValueRange()
Range	getValueRangeDeg()
Wrench	getWrench()
void	set(JointCoordinateHandle ch)
void	setValue(double value)
void	setValueDeg(double value)

Methods inherited from class java.lang.Object

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

Constructor Detail

JointCoordinateHandle

public JointCoordinateHandle()

JointCoordinateHandle

public JointCoordinateHandle(JointBase joint,
                             int idx)

JointCoordinateHandle

public JointCoordinateHandle(JointCoordinateHandle ch)

Method Detail

set

public void set(JointCoordinateHandle ch)

getJoint

public JointBase getJoint()

getIndex

public int getIndex()

getValue

public double getValue()

setValue

public void setValue(double value)

getValueRange

public Range getValueRange()

getValueDeg

public double getValueDeg()

setValueDeg

public void setValueDeg(double value)

getValueRangeDeg

public Range getValueRangeDeg()

getSpeed

public double getSpeed()

getSpeedDeg

public double getSpeedDeg()

applyForce

public void applyForce(double f)

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)

getMotionType

public RigidBodyConstraint.MotionType getMotionType()

getCoordinateName

public java.lang.String getCoordinateName()

getWrench

public Wrench getWrench()

equals

public boolean equals(JointCoordinateHandle jch)

Checks if this coordinate handle equals another. Handles are equal if they refer to the same joint and the same coordinate index.