artisynth.core.mechmodels

Class FrameAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.FrameAttachment

All Implemented Interfaces:

AttachingComponent, DynamicAttachment, DynamicAttachmentComp, CopyableComponent, ModelComponent, PostScannable, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

Direct Known Subclasses:

FrameFem3dAttachment, FrameFrameAttachment

public abstract class FrameAttachment
extends DynamicAttachmentBase
implements CopyableComponent, ScalableUnits

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
FrameAttachment()

Method Summary

Modifier and Type	Method and Description
abstract void	applyForce(Wrench wr) Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.
void	applyForces()
FrameAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
abstract double	getAverageMasterInertia() Returns the average rotational inertia of the master components as seen by the attached frame.
abstract double	getAverageMasterMass() Returns the average mass of the master components as seen by the attached frame.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
abstract void	getCurrentTFW(RigidTransform3d TFW) Returns the current pose of the attached frame, in world coordinates.
abstract void	getCurrentVel(Twist vel, Twist dvel) Returns the current velocity of the attached frame, in frame coordinates.
Frame	getFrame()
MatrixBlock	getGT(int idx) Returns the transpose of the constraint matrix G associated with the idx-th master component.
MatrixBlock[]	getMasterBlocks()
DynamicComponent[]	getMasters()
Frame	getSlave() Returns the slave DynamicMechComponent associated with this attachment.
abstract void	getUndeformedTFW(RigidTransform3d TFW) Returns the current undeformed pose of the attached frame, in world coordinates.
void	invalidateMasters()
boolean	isDuplicatable() Returns true if this component can be duplicated.
abstract boolean	isFlexible() Indicates that this attachment is flexible.
void	mulSubGT(double[] ybuf, int yoff, double[] xbuf, int xoff, int idx) Computes
void	mulSubGTM(MatrixBlock D, MatrixBlock M, int idx) Computes
void	mulSubMG(MatrixBlock D, MatrixBlock M, int idx) Computes
int	numMasters()
void	scaleMass(double m) Nothing to do for scale mass.
abstract boolean	setCurrentTFW(RigidTransform3d TFW) Sets the current pose of the attached frame, in world coordinates.
void	transformGeometry(AffineTransform3dBase X, RigidTransform3d TFW)
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, addMassToMasters, clone, connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getDerivative, getHardReferences, oneMasterActive, oneMasterNotAttached, removeBackRefs, removeBackRefs, removeConnectedMasterRefs, setSlaveAffectsStiffness, slaveAffectsStiffness, updateAttachment, updatePosStates, updateVelStates

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, createTempFlag, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.util.ScalableUnits

scaleDistance

Constructor Detail

FrameAttachment

public FrameAttachment()

Method Detail

getSlave

public Frame getSlave()

Description copied from class: DynamicAttachmentBase

Returns the slave DynamicMechComponent associated with this attachment. In some cases, the attachment may connect some other entity (such as a mesh vertex) to the master components, in which case this method should return null.

Specified by:

getSlave in interface DynamicAttachment

Specified by:

getSlave in class DynamicAttachmentBase

Returns:

slave DynamicMechComponent, if any

getFrame

public Frame getFrame()

getMasters

public DynamicComponent[] getMasters()

Specified by:

getMasters in interface DynamicAttachment

Specified by:

getMasters in class DynamicAttachmentBase

getMasterBlocks

public MatrixBlock[] getMasterBlocks()

numMasters

public int numMasters()

Specified by:

numMasters in interface DynamicAttachment

Overrides:

numMasters in class DynamicAttachmentBase

invalidateMasters

public void invalidateMasters()

Specified by:

invalidateMasters in interface DynamicAttachment

Specified by:

invalidateMasters in class DynamicAttachmentBase

isFlexible

public abstract boolean isFlexible()

Indicates that this attachment is flexible. That means that underlying body to which the frame is connected is deformable.

Returns:

true if this attachment is flexible.

getCurrentTFW

public abstract void getCurrentTFW(RigidTransform3d TFW)

Returns the current pose of the attached frame, in world coordinates.

Parameters:

TFW - used to return current frame pose.

getUndeformedTFW

public abstract void getUndeformedTFW(RigidTransform3d TFW)

Returns the current undeformed pose of the attached frame, in world coordinates. If the underlying body to which the frame is attached is not flexible, then this method should return the same value as getCurrentTFW().

Parameters:

TFW - used to return current undeformed frame pose.

See Also:

isFlexible()

setCurrentTFW

public abstract boolean setCurrentTFW(RigidTransform3d TFW)

Sets the current pose of the attached frame, in world coordinates. This will update the internal parameters of the attachment to be consistent with the current valued master coordinates.

Parameters:

TFW - new pose for the attached frame, in world coordinates

Returns:

true if the underlying master components have changed

getCurrentVel

public abstract void getCurrentVel(Twist vel,
                                   Twist dvel)

Returns the current velocity of the attached frame, in frame coordinates. Also optionally returns the velocity derivative term, defined by

 \dot J velm
 

where J is the matrix that maps master velocities to the attached frame velocity (in frame coordinates), and velm are the master velocities.

Parameters:

vel - used to return current frame velocity

dvel - if not null, returns the velocity derivative term

applyForce

public abstract void applyForce(Wrench wr)

Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.

Parameters:

wr - force to apply to the frame

getAverageMasterMass

public abstract double getAverageMasterMass()

Returns the average mass of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

getAverageMasterInertia

public abstract double getAverageMasterInertia()

Returns the average rotational inertia of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

writeItems

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

Throws:

java.io.IOException

copy

public FrameAttachment copy(int flags,
                            java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface DynamicAttachmentComp

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class DynamicAttachmentBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Specified by:

applyForces in class DynamicAttachmentBase

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Returns:

true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

mulSubGTM

public void mulSubGTM(MatrixBlock D,
                      MatrixBlock M,
                      int idx)

Computes

       T
 D -= G  M
 

where D and M are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Specified by:

mulSubGTM in interface DynamicAttachment

Specified by:

mulSubGTM in class DynamicAttachmentBase

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

mulSubMG

public void mulSubMG(MatrixBlock D,
                     MatrixBlock M,
                     int idx)

Computes

 D -= M G
 

where D and M are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Specified by:

mulSubMG in interface DynamicAttachment

Specified by:

mulSubMG in class DynamicAttachmentBase

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

getGT

public MatrixBlock getGT(int idx)

Description copied from class: DynamicAttachmentBase

Returns the transpose of the constraint matrix G associated with the idx-th master component.

Specified by:

getGT in interface DynamicAttachment

Specified by:

getGT in class DynamicAttachmentBase

Parameters:

idx - index of the master component

Returns:

transpose of G associated with idx

mulSubGT

public void mulSubGT(double[] ybuf,
                     int yoff,
                     double[] xbuf,
                     int xoff,
                     int idx)

Computes

       T
 y -= G  x
 

where y and x are vectors associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Specified by:

mulSubGT in interface DynamicAttachment

Specified by:

mulSubGT in class DynamicAttachmentBase

Parameters:

ybuf - buffer into which to store result

yoff - offset into ybuf

xbuf - buffer containing right hand side vector

xoff - offset into xbuf

idx - master component index

scaleMass

public void scaleMass(double m)

Nothing to do for scale mass.

Specified by:

scaleMass in interface ScalableUnits

Parameters:

m - scaling factor

transformGeometry

public void transformGeometry(AffineTransform3dBase X,
                              RigidTransform3d TFW)