artisynth.core.opensim.components

Class JointBase

java.lang.Object

artisynth.core.opensim.components.OpenSimObject

artisynth.core.opensim.components.JointBase

All Implemented Interfaces:

ModelComponentGenerator<ModelComponent>, java.lang.Cloneable, Clonable

Direct Known Subclasses:

BallJoint, CustomJoint, FreeJoint, GimbalJoint, PinJoint, ScapulothoracicJoint, UniversalJoint, WeldJoint

public abstract class JointBase
extends OpenSimObject
implements ModelComponentGenerator<ModelComponent>

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	JointBase.BodyAndTransform

Constructor Summary

Constructors

Constructor and Description
JointBase()

Method Summary

Modifier and Type	Method and Description
JointBase	clone()
JointBase	createComponent(java.io.File geometryPath, ModelComponentMap componentMap) Creates and returns a model component, using the provided component map to look up other dependent objects.
JointBase.BodyAndTransform	findChildBodyAndTransform(ModelComponentMap componentMap)
JointBase.BodyAndTransform	findParentBodyAndTransform(ModelComponentMap componentMap)
java.util.ArrayList<Coordinate>	getCoordinateArray() Works for both CoordinateSet (OpenSim 3) and CoordinateList (OpenSim 4)
CoordinateList	getCoordinates()
CoordinateSet	getCoordinateSet()
FrameList	getFrames()
RigidTransform3d	getJointTransformInChild() Joint pose relative to child body
RigidTransform3d	getJointTransformInParent() Joint pose relative to parent body (OpenSim 3)
Point3d	getLocation()
Point3d	getLocationInParent()
AxisAngle	getOrientation()
AxisAngle	getOrientationInParent()
java.lang.String	getParentBody()
boolean	getReverse()
java.lang.String	getSocketChildFrame()
java.lang.String	getSocketParentFrame()
void	setCoordinates(CoordinateList coords)
void	setCoordinateSet(CoordinateSet cs)
void	setFrames(FrameList frames)
void	setLocation(Point3d loc)
void	setLocationInParent(Point3d loc)
void	setOrientation(AxisAngle orient)
void	setOrientationInParent(AxisAngle orient)
void	setParentBody(java.lang.String body)
void	setReverse(boolean set)
void	setSocketChildFrame(java.lang.String path)
void	setSocketParentFrame(java.lang.String path)

Methods inherited from class artisynth.core.opensim.components.OpenSimObject

getName, getParent, getPath, setName, setParent

Methods inherited from class java.lang.Object

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

Constructor Detail

JointBase

public JointBase()

Method Detail

setParentBody

public void setParentBody(java.lang.String body)

getParentBody

public java.lang.String getParentBody()

setLocationInParent

public void setLocationInParent(Point3d loc)

getLocationInParent

public Point3d getLocationInParent()

setOrientationInParent

public void setOrientationInParent(AxisAngle orient)

getOrientationInParent

public AxisAngle getOrientationInParent()

getJointTransformInParent

public RigidTransform3d getJointTransformInParent()

Joint pose relative to parent body (OpenSim 3)

Returns:

joint pose

findParentBodyAndTransform

public JointBase.BodyAndTransform findParentBodyAndTransform(ModelComponentMap componentMap)

findChildBodyAndTransform

public JointBase.BodyAndTransform findChildBodyAndTransform(ModelComponentMap componentMap)

setLocation

public void setLocation(Point3d loc)

getLocation

public Point3d getLocation()

getJointTransformInChild

public RigidTransform3d getJointTransformInChild()

Joint pose relative to child body

Returns:

joint pose

setOrientation

public void setOrientation(AxisAngle orient)

getOrientation

public AxisAngle getOrientation()

setReverse

public void setReverse(boolean set)

getReverse

public boolean getReverse()

getCoordinateArray

public java.util.ArrayList<Coordinate> getCoordinateArray()

Works for both CoordinateSet (OpenSim 3) and CoordinateList (OpenSim 4)

Returns:

array of coordinates

getCoordinateSet

public CoordinateSet getCoordinateSet()

setCoordinateSet

public void setCoordinateSet(CoordinateSet cs)

getCoordinates

public CoordinateList getCoordinates()

setCoordinates

public void setCoordinates(CoordinateList coords)

getFrames

public FrameList getFrames()

setFrames

public void setFrames(FrameList frames)

getSocketParentFrame

public java.lang.String getSocketParentFrame()

setSocketParentFrame

public void setSocketParentFrame(java.lang.String path)

getSocketChildFrame

public java.lang.String getSocketChildFrame()

setSocketChildFrame

public void setSocketChildFrame(java.lang.String path)

clone

public JointBase clone()

Specified by:

clone in interface Clonable

Overrides:

clone in class OpenSimObject

createComponent

public JointBase createComponent(java.io.File geometryPath,
                                 ModelComponentMap componentMap)

Description copied from interface: ModelComponentGenerator

Creates and returns a model component, using the provided component map to look up other dependent objects. The newly created component should also be added to the componentMap.

Specified by:

createComponent in interface ModelComponentGenerator<ModelComponent>

Parameters:

geometryPath - path to search for geometry files

componentMap - map for looking up other objects

Returns:

created component