artisynth.core.materials

Class PowerFrameMaterial

java.lang.Object

artisynth.core.materials.MaterialBase

artisynth.core.materials.FrameMaterial

artisynth.core.materials.PowerFrameMaterial

All Implemented Interfaces:

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

public class PowerFrameMaterial
extends FrameMaterial

A FrameMaterial that computes restoring forces along the translational and rotational directions according to a power law of the form

 f = K sgn(d) |d|^n
 

where K is a stiffness, d is a displacement, and n is an exponent. A value of n = 1 results in a standard linear relationship f = K d.

Stiffnesses and exponents can be specified for each of the six translational and rotational directions. Rotational displacements, and the resulting forces, are computed with respect to the x-y-z rotation angles of the rotational displacement matrix, as computed using RotationMatrix3d.getXyz(double[]). For both translational and rotational displacements, it is possible to specify a deadband b, such that the displacement d applied to the force law is determined from the true displacement dt by

 d = sgn(dt) max(0, |dt|-b)
 

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Constructor Summary

Constructors

Constructor and Description
PowerFrameMaterial()
PowerFrameMaterial(double k, int n, double kr, int nr, double d, double dr)

Method Summary

Modifier and Type	Method and Description
PowerFrameMaterial	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()
Vector3i	getExponents()
Vector3d	getLowerDeadband()
Vector3d	getLowerRotaryDeadband()
Vector3d	getRotaryDamping()
Vector3i	getRotaryExponents()
Vector3d	getRotaryStiffness()
Vector3d	getStiffness()
Vector3d	getUpperDeadband()
Vector3d	getUpperRotaryDeadband()
void	setDamping(double d)
void	setDamping(double dx, double dy, double dz)
void	setDamping(Vector3d dvec)
void	setDeadband(double db)
void	setDeadband(double dbx, double dby, double dbz)
void	setExponents(int n)
void	setExponents(int nx, int ny, int nz)
void	setExponents(Vector3i nvec)
void	setLowerDeadband(double db)
void	setLowerDeadband(double dbx, double dby, double dbz)
void	setLowerDeadband(Vector3d dbvec)
void	setLowerRotaryDeadband(double db)
void	setLowerRotaryDeadband(double dbx, double dby, double dbz)
void	setLowerRotaryDeadband(Vector3d dbvec)
void	setRotaryDamping(double d)
void	setRotaryDamping(double dx, double dy, double dz)
void	setRotaryDamping(Vector3d dvec)
void	setRotaryDeadband(double db)
void	setRotaryDeadband(double dbx, double dby, double dbz)
void	setRotaryExponents(int n)
void	setRotaryExponents(int nx, int ny, int nz)
void	setRotaryExponents(Vector3i nvec)
void	setRotaryStiffness(double k)
void	setRotaryStiffness(double kx, double ky, double kz)
void	setRotaryStiffness(Vector3d kvec)
void	setStiffness(double k)
void	setStiffness(double kx, double ky, double kz)
void	setStiffness(Vector3d kvec)
void	setUpperDeadband(double db)
void	setUpperDeadband(double dbx, double dby, double dbz)
void	setUpperDeadband(Vector3d dbvec)
void	setUpperRotaryDeadband(double db)
void	setUpperRotaryDeadband(double dbx, double dby, double dbz)
void	setUpperRotaryDeadband(Vector3d dbvec)

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, writeItems

Methods inherited from class java.lang.Object

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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

PowerFrameMaterial

public PowerFrameMaterial()

PowerFrameMaterial

public PowerFrameMaterial(double k,
                          int n,
                          double kr,
                          int nr,
                          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

getStiffness

public Vector3d getStiffness()

setStiffness

public void setStiffness(double k)

setStiffness

public void setStiffness(double kx,
                         double ky,
                         double kz)

setStiffness

public void setStiffness(Vector3d kvec)

getExponents

public Vector3i getExponents()

setExponents

public void setExponents(int n)

setExponents

public void setExponents(int nx,
                         int ny,
                         int nz)

setExponents

public void setExponents(Vector3i nvec)

getUpperDeadband

public Vector3d getUpperDeadband()

setUpperDeadband

public void setUpperDeadband(double db)

setUpperDeadband

public void setUpperDeadband(double dbx,
                             double dby,
                             double dbz)

setUpperDeadband

public void setUpperDeadband(Vector3d dbvec)

getLowerDeadband

public Vector3d getLowerDeadband()

setLowerDeadband

public void setLowerDeadband(double db)

setLowerDeadband

public void setLowerDeadband(double dbx,
                             double dby,
                             double dbz)

setLowerDeadband

public void setLowerDeadband(Vector3d dbvec)

setDeadband

public void setDeadband(double db)

setDeadband

public void setDeadband(double dbx,
                        double dby,
                        double dbz)

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)

getRotaryStiffness

public Vector3d getRotaryStiffness()

setRotaryStiffness

public void setRotaryStiffness(double k)

setRotaryStiffness

public void setRotaryStiffness(double kx,
                               double ky,
                               double kz)

setRotaryStiffness

public void setRotaryStiffness(Vector3d kvec)

getRotaryExponents

public Vector3i getRotaryExponents()

setRotaryExponents

public void setRotaryExponents(int n)

setRotaryExponents

public void setRotaryExponents(int nx,
                               int ny,
                               int nz)

setRotaryExponents

public void setRotaryExponents(Vector3i nvec)

getUpperRotaryDeadband

public Vector3d getUpperRotaryDeadband()

setUpperRotaryDeadband

public void setUpperRotaryDeadband(double db)

setUpperRotaryDeadband

public void setUpperRotaryDeadband(double dbx,
                                   double dby,
                                   double dbz)

setUpperRotaryDeadband

public void setUpperRotaryDeadband(Vector3d dbvec)

getLowerRotaryDeadband

public Vector3d getLowerRotaryDeadband()

setLowerRotaryDeadband

public void setLowerRotaryDeadband(double db)

setLowerRotaryDeadband

public void setLowerRotaryDeadband(double dbx,
                                   double dby,
                                   double dbz)

setLowerRotaryDeadband

public void setLowerRotaryDeadband(Vector3d dbvec)

setRotaryDeadband

public void setRotaryDeadband(double db)

setRotaryDeadband

public void setRotaryDeadband(double dbx,
                              double dby,
                              double dbz)

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 PowerFrameMaterial 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