artisynth.core.opensim.customjoint

Class OpenSimCustomCoupling.TAxis

java.lang.Object

artisynth.core.opensim.customjoint.OpenSimCustomCoupling.TAxis

Enclosing class:

OpenSimCustomCoupling

public static class OpenSimCustomCoupling.TAxis
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
TAxis(TransformAxis info, java.util.HashMap<java.lang.String,java.lang.Integer> cmap)

Method Summary

Modifier and Type	Method and Description
void	addToHv(MatrixNd H, VectorNd coords) For a translation axis, add the contribution to the v component of the mobility vectors.
void	addToHw(MatrixNd H, RotationMatrix3d R, VectorNd coords, boolean last) For a rotation axis, add the contribution to the w component of the mobility vectors.
void	applyRotation(RotationMatrix3d R, VectorNd coords) Apply rotation for a rotation axis
void	applyTranslation(Vector3d p, VectorNd coords) Apply translation for a translation axis
Vector3d	getAxis()

Methods inherited from class java.lang.Object

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

Constructor Detail

TAxis

public TAxis(TransformAxis info,
             java.util.HashMap<java.lang.String,java.lang.Integer> cmap)

Method Detail

applyTranslation

public void applyTranslation(Vector3d p,
                             VectorNd coords)

Apply translation for a translation axis

addToHv

public void addToHv(MatrixNd H,
                    VectorNd coords)

For a translation axis, add the contribution to the v component of the mobility vectors.

applyRotation

public void applyRotation(RotationMatrix3d R,
                          VectorNd coords)

Apply rotation for a rotation axis

addToHw

public void addToHw(MatrixNd H,
                    RotationMatrix3d R,
                    VectorNd coords,
                    boolean last)

For a rotation axis, add the contribution to the w component of the mobility vectors.

getAxis

public Vector3d getAxis()