artisynth.core.materials

Class FunctionFrameMaterial

java.lang.Object

artisynth.core.materials.MaterialBase

artisynth.core.materials.FrameMaterial

artisynth.core.materials.FunctionFrameMaterial

All Implemented Interfaces:

HasMaterialState, PostScannable, ScalableUnits, java.lang.Cloneable, CompositeProperty, HasProperties, Clonable, Scannable

public class FunctionFrameMaterial
extends FrameMaterial

A FrameMaterial that is linear with respect to translation and X-Y-Z rotation angles.

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Constructor Summary

Constructors

Constructor and Description
FunctionFrameMaterial()
FunctionFrameMaterial(Diff1Function1x1Base transFunc, Diff1Function1x1Base rotFunc, double d, double dr)

Method Summary

Modifier and Type	Method and Description
FunctionFrameMaterial	clone() Returns a clone of this composite property.
void	computeDFdq(Matrix6d Jq, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21, boolean symmetric)
void	computeDFdu(Matrix6d Ju, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21, boolean symmetric)
void	computeF(Wrench wr, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21)
boolean	equals(FrameMaterial mat)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Vector3d	getDamping()
Vector3d	getRotaryDamping()
Diff1Function1x1	getRotaryFunction(int idx)
Diff1Function1x1	getTranslationalFunction(int idx)
void	setDamping(double d)
void	setDamping(double dx, double dy, double dz)
void	setDamping(Vector3d dvec)
void	setRotaryDamping(double d)
void	setRotaryDamping(double dx, double dy, double dz)
void	setRotaryDamping(Vector3d dvec)
void	setRotaryFunction(int idx, Diff1Function1x1Base fxn)
void	setRotaryFunctions(Diff1Function1x1Base fxn)
void	setTranslationalFunction(int idx, Diff1Function1x1Base fxn)
void	setTranslationalFunctions(Diff1Function1x1Base fxn)
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.materials.FrameMaterial

equals, getSubClasses

Methods inherited from class artisynth.core.materials.MaterialBase

advanceState, createStateObject, getProperty, getPropertyHost, getPropertyInfo, hasProperty, hasState, hasSymmetricTangent, isWritable, postscan, scaleDistance, scaleMass, scan, setPropertyHost, setPropertyInfo, symmetryOrStateChanged, updateMaterial, write

Methods inherited from class java.lang.Object

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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FunctionFrameMaterial

public FunctionFrameMaterial()

FunctionFrameMaterial

public FunctionFrameMaterial(Diff1Function1x1Base transFunc,
                             Diff1Function1x1Base rotFunc,
                             double d,
                             double dr)

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class MaterialBase

Returns:

static information for all exported properties

getTranslationalFunction

public Diff1Function1x1 getTranslationalFunction(int idx)

setTranslationalFunctions

public void setTranslationalFunctions(Diff1Function1x1Base fxn)

setTranslationalFunction

public void setTranslationalFunction(int idx,
                                     Diff1Function1x1Base fxn)

getDamping

public Vector3d getDamping()

setDamping

public void setDamping(double d)

setDamping

public void setDamping(double dx,
                       double dy,
                       double dz)

setDamping

public void setDamping(Vector3d dvec)

getRotaryFunction

public Diff1Function1x1 getRotaryFunction(int idx)

setRotaryFunctions

public void setRotaryFunctions(Diff1Function1x1Base fxn)

setRotaryFunction

public void setRotaryFunction(int idx,
                              Diff1Function1x1Base fxn)

getRotaryDamping

public Vector3d getRotaryDamping()

setRotaryDamping

public void setRotaryDamping(double d)

setRotaryDamping

public void setRotaryDamping(double dx,
                             double dy,
                             double dz)

setRotaryDamping

public void setRotaryDamping(Vector3d dvec)

computeF

public void computeF(Wrench wr,
                     RigidTransform3d X21,
                     Twist vel21,
                     RigidTransform3d initialX21)

Specified by:

computeF in class FrameMaterial

computeDFdq

public void computeDFdq(Matrix6d Jq,
                        RigidTransform3d X21,
                        Twist vel21,
                        RigidTransform3d initialX21,
                        boolean symmetric)

Specified by:

computeDFdq in class FrameMaterial

computeDFdu

public void computeDFdu(Matrix6d Ju,
                        RigidTransform3d X21,
                        Twist vel21,
                        RigidTransform3d initialX21,
                        boolean symmetric)

Specified by:

computeDFdu in class FrameMaterial

equals

public boolean equals(FrameMaterial mat)

Overrides:

equals in class FrameMaterial

clone

public FunctionFrameMaterial clone()

Description copied from interface: CompositeProperty

Returns a clone of this composite property.

Specified by:

clone in interface CompositeProperty

Specified by:

clone in interface Clonable

Overrides:

clone in class FrameMaterial

Returns:

clone of this property

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Overrides:

writeItems in class MaterialBase

Throws:

java.io.IOException