artisynth.core.mechmodels

Class GimbalJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.mechmodels.RenderableConstrainerBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.SphericalJointBase

artisynth.core.mechmodels.GimbalJoint

All Implemented Interfaces:

BodyConstrainer, Constrainer, CopyableComponent, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

SphericalRpyJoint

public class GimbalJoint
extends SphericalJointBase

Implements a 3 DOF spherical joint parameterized by roll-pitch-yaw angles. Frames C and D share a common origin, with C free to assume any orientation with respect to D. This orientation is described by a rotation roll about the z axis of D, followed by a rotation pitch about the rotated y axis, followed by a final rotation yaw about the rotated x axis. All rotations are counter-clockwise.

The roll, pitch and yaw angles are available (in degrees) as properties which can be read and also, under appropriate circumstances, set. Setting these values causes an adjustment in the positions of one or both bodies connected to this joint, along with adjacent bodies connected to them, with preference given to bodies that are not attached to ``ground''. If this is done during simulation, and particularly if one or both of the bodies connected to this joint are moving dynamically, the results will be unpredictable and will likely conflict with the simulation.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	GimbalJoint.AxisSet Specifies whether the roll-pitch-yaw angles of this joint describe instrinic rotations about the Z-Y-X or X-Y-Z axes.

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps
static int	PITCH_IDX
static int	ROLL_IDX
static int	YAW_IDX

Fields inherited from class artisynth.core.mechmodels.SphericalJointBase

DEFAULT_JOINT_RADIUS

Fields inherited from class artisynth.core.mechmodels.JointBase

DEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUS

Fields inherited from class artisynth.core.mechmodels.BodyConnector

debug, useOldDerivativeMethod

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
GimbalJoint() Creates a GimbalJoint which is not attached to any bodies.
GimbalJoint(ConnectableBody bodyA, ConnectableBody bodyB, Point3d originD) Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB.
GimbalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW) Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB.
GimbalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW) Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB.
GimbalJoint(ConnectableBody bodyA, RigidTransform3d TDW) Creates a GimbalJoint connecting a single connectable body, bodyA, to ground.
GimbalJoint(GimbalJoint.AxisSet axes)
GimbalJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB) Creates a GimbalJoint connecting two rigid bodies, bodyA and bodyB.

Method Summary

Modifier and Type	Method and Description
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getApplyEuler()
GimbalJoint.AxisSet	getAxes()
double	getMaxPitch() Queries the upper pitch range limit for this joint, in degrees.
double	getMaxRoll() Queries the upper roll range limit for this joint, in degrees.
double	getMaxYaw() Queries the upper yaw range limit for this joint, in degrees.
double	getMinPitch() Queries the lower pitch range limit for this joint, in degrees.
double	getMinRoll() Queries the lower roll range limit for this joint, in degrees.
double	getMinYaw() Queries the lower yaw range limit for this joint, in degrees.
double	getPitch() Queries this joint's pitch value, in degrees.
DoubleInterval	getPitchRange() Queries the pitch range limits for this joint, in degrees.
double	getRoll() Queries this joint's roll value, in degrees.
DoubleInterval	getRollRange() Queries the roll range limits for this joint, in degrees.
Vector3d	getRpyRad()
double	getYaw() Queries this joint's yaw value, in degrees.
DoubleInterval	getYawRange() Queries the yaw range limits for this joint, in degrees.
boolean	isPitchLocked() Queries whether the pitch coordinate for this joint is locked.
boolean	isRollLocked() Queries whether the roll coordinate for this joint is locked.
boolean	isYawLocked() Queries whether the yaw coordinate for this joint is locked.
void	setApplyEuler(boolean apply)
void	setMaxPitch(double max) Sets the upper pitch range limit for this joint, in degrees.
void	setMaxRoll(double max) Sets the upper roll range limit for this joint, in degrees.
void	setMaxYaw(double max) Sets the upper yaw range limit for this joint, in degrees.
void	setMinPitch(double min) Sets the lower pitch range limit for this joint, in degrees.
void	setMinRoll(double min) Sets the lower roll range limit for this joint, in degrees.
void	setMinYaw(double min) Sets the lower yaw range limit for this joint, in degrees.
void	setPitch(double pitch) Sets this joint's pitch value, in degrees.
void	setPitchLocked(boolean locked) Set whether the pitch coordinate for this joint is locked.
void	setPitchRange(double min, double max) Sets the pitch range limits for this joint, in degrees.
void	setPitchRange(DoubleInterval range) Sets the pitch range limits for this joint, in degrees.
void	setRoll(double roll) Sets this joint's roll value, in degrees.
void	setRollLocked(boolean locked) Set whether the roll coordinate for this joint is locked.
void	setRollRange(double min, double max) Sets the roll range limits for this joint, in degrees.
void	setRollRange(DoubleInterval range) Sets the roll range limits for this joint, in degrees.
void	setRpyRad(Vector3d rpy)
void	setYaw(double yaw) Sets this joint's yaw value, in degrees.
void	setYawLocked(boolean locked) Set whether the yaw coordinate for this joint is locked.
void	setYawRange(double min, double max) Sets the yaw range limits for this joint, in degrees.
void	setYawRange(DoubleInterval range) Sets the yaw range limits for this joint, in degrees.

Methods inherited from class artisynth.core.mechmodels.SphericalJointBase

copy, getJointRadius, render, setJointRadius, updateBounds

Methods inherited from class artisynth.core.mechmodels.JointBase

addCoordinateMobilities, addCoordinateSolveBlocks, addCoordinateVelJacobian, applyCoordinateForce, coordinatesToTCD, getCoordinate, getCoordinateDeg, getCoordinateIndex, getCoordinateMotionType, getCoordinateName, getCoordinateRange, getCoordinateRangeDeg, getCoordinates, getCoordinateSpeed, getCoordinateValue, getCoordinateValueDeg, getMaxCoordinate, getMaxCoordinateDeg, getMinCoordinate, getMinCoordinateDeg, getPosition, getRangeLimitCompliance, getRangeLimitDamping, getRangeLimitForce, getShaftLength, getShaftRadius, getStoredCoordinates, getStoredTCD, getStoredTCD, isCoordinateLocked, numCoordinates, setCoordinate, setCoordinateDeg, setCoordinateLocked, setCoordinateName, setCoordinateRange, setCoordinateRangeDeg, setCoordinates, setRangeLimitCompliance, setShaftLength, setShaftRadius

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, findConnectedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getOtherBody, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, prerender, printConnectedBodies, printConstraintInfo, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setBodyA, setBodyA, setBodyB, setBodyB, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, withinLoop, zeroForces

Methods inherited from class artisynth.core.mechmodels.RenderableConstrainerBase

createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, 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.CopyableComponent

getCopyReferences, isDuplicatable

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

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.modelbase.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Field Detail

ROLL_IDX

public static final int ROLL_IDX

See Also:

Constant Field Values

PITCH_IDX

public static final int PITCH_IDX

See Also:

Constant Field Values

YAW_IDX

public static final int YAW_IDX

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

GimbalJoint

public GimbalJoint()

Creates a GimbalJoint which is not attached to any bodies. It can subsequently be connected using one of the setBodies methods.

GimbalJoint

public GimbalJoint(GimbalJoint.AxisSet axes)

GimbalJoint

public GimbalJoint(RigidBody bodyA,
                   RigidTransform3d TCA,
                   RigidBody bodyB,
                   RigidTransform3d TDB)

Creates a GimbalJoint connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of bodyA and bodyB, then TCA and TDB give the (fixed) transforms from the joint's C and D frames to A and B, respectively. Since C and D are specified independently, the joint transform TCD may not necessarily be initialized to the identity.

Specifying bodyB as null will cause bodyA to be connected to ground, with TDB then being the same as TDW.

Parameters:

bodyA - rigid body A

TCA - transform from joint frame C to body frame A

bodyB - rigid body B (or null)

TDB - transform from joint frame D to body frame B

GimbalJoint

public GimbalJoint(ConnectableBody bodyA,
                   ConnectableBody bodyB,
                   RigidTransform3d TCW,
                   RigidTransform3d TDW)

Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames C and D are located independently with respect to world coordinates by TCW and TDW.

Specifying bodyB as null will cause bodyA to be connected to ground.

Parameters:

bodyA - body A

bodyB - body B (or null)

TCW - initial transform from joint frame C to world

TDW - initial transform from joint frame D to world

GimbalJoint

public GimbalJoint(ConnectableBody bodyA,
                   ConnectableBody bodyB,
                   RigidTransform3d TDW)

Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.

Parameters:

bodyA - body A

bodyB - body B

TDW - initial transform from joint frames D and C to world

GimbalJoint

public GimbalJoint(ConnectableBody bodyA,
                   RigidTransform3d TDW)

Creates a GimbalJoint connecting a single connectable body, bodyA, to ground. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.

Parameters:

bodyA - body A

TDW - initial transform from joint frames D and C to world

GimbalJoint

public GimbalJoint(ConnectableBody bodyA,
                   ConnectableBody bodyB,
                   Point3d originD)

Creates a GimbalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located (with respect to world) so that its origin is at originD and its axes are aligned with the world.

Specifying bodyB as null will cause bodyA to be connected to ground.

Parameters:

bodyA - body A

bodyB - body B, or null if bodyA is connected to ground.

originD - origin of frame D (world coordinates)

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 SphericalJointBase

Returns:

static information for all exported properties

getAxes

public GimbalJoint.AxisSet getAxes()

getRpyRad

public Vector3d getRpyRad()

setRpyRad

public void setRpyRad(Vector3d rpy)

getRoll

public double getRoll()

Queries this joint's roll value, in degrees. See setRoll(double) for more details.

Returns:

current roll value

setRoll

public void setRoll(double roll)

Sets this joint's roll value, in degrees. This describes the initial counter-clockwise rotation of frame C about the z axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.

Parameters:

roll - new roll value

getRollRange

public DoubleInterval getRollRange()

Queries the roll range limits for this joint, in degrees. See setRollRange(DoubleInterval) for more details.

Returns:

roll range limits for this joint

getMinRoll

public double getMinRoll()

Queries the lower roll range limit for this joint, in degrees.

Returns:

lower roll range limit

getMaxRoll

public double getMaxRoll()

Queries the upper roll range limit for this joint, in degrees.

Returns:

upper roll range limit

setRollRange

public void setRollRange(DoubleInterval range)

Sets the roll range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If roll travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).

Parameters:

range - roll range limits for this joint

setRollRange

public void setRollRange(double min,
                         double max)

Sets the roll range limits for this joint, in degrees. This is a convenience wrapper for setRollRange(DoubleInterval).

Parameters:

min - minimum roll value

max - maximum roll value

setMaxRoll

public void setMaxRoll(double max)

Sets the upper roll range limit for this joint, in degrees. Setting a value of inf removes the upper limit.

Parameters:

max - upper roll range limit

setMinRoll

public void setMinRoll(double min)

Sets the lower roll range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.

Parameters:

min - lower roll range limit

isRollLocked

public boolean isRollLocked()

Queries whether the roll coordinate for this joint is locked.

Returns:

true if roll is locked

setRollLocked

public void setRollLocked(boolean locked)

Set whether the roll coordinate for this joint is locked.

Parameters:

locked - if true, locks roll

getPitch

public double getPitch()

Queries this joint's pitch value, in degrees. See setPitch(double) for more details.

Returns:

current pitch value

setPitch

public void setPitch(double pitch)

Sets this joint's pitch value, in degrees. This describes the counter-clockwise rotation of frame C about its y axis after the roll rotation. See this class's Javadoc header for a discussion of what happens when this value is set.

Parameters:

pitch - new pitch value

getPitchRange

public DoubleInterval getPitchRange()

Queries the pitch range limits for this joint, in degrees. See setPitchRange(DoubleInterval) for more details.

Returns:

pitch range limits for this joint

getMinPitch

public double getMinPitch()

Queries the lower pitch range limit for this joint, in degrees.

Returns:

lower pitch range limit

getMaxPitch

public double getMaxPitch()

Queries the upper pitch range limit for this joint, in degrees.

Returns:

upper pitch range limit

setPitchRange

public void setPitchRange(DoubleInterval range)

Sets the pitch range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If pitch travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).

Parameters:

range - pitch range limits for this joint

setPitchRange

public void setPitchRange(double min,
                          double max)

Sets the pitch range limits for this joint, in degrees. This is a convenience wrapper for setPitchRange(DoubleInterval).

Parameters:

min - minimum pitch value

max - maximum pitch value

setMaxPitch

public void setMaxPitch(double max)

Sets the upper pitch range limit for this joint, in degrees. Setting a value of inf removes the upper limit.

Parameters:

max - upper pitch range limit

setMinPitch

public void setMinPitch(double min)

Sets the lower pitch range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.

Parameters:

min - lower pitch range limit

isPitchLocked

public boolean isPitchLocked()

Queries whether the pitch coordinate for this joint is locked.

Returns:

true if pitch is locked

setPitchLocked

public void setPitchLocked(boolean locked)

Set whether the pitch coordinate for this joint is locked.

Parameters:

locked - if true, locks pitch

getYaw

public double getYaw()

Queries this joint's yaw value, in degrees. See setYaw(double) for more details.

Returns:

current yaw value

setYaw

public void setYaw(double yaw)

Sets this joint's yaw value, in degrees. This describes the counter-clockwise rotation of frame C about its y axis after the roll rotation. See this class's Javadoc header for a discussion of what happens when this value is set.

Parameters:

yaw - new yaw value

getYawRange

public DoubleInterval getYawRange()

Queries the yaw range limits for this joint, in degrees. See setYawRange(DoubleInterval) for more details.

Returns:

yaw range limits for this joint

getMinYaw

public double getMinYaw()

Queries the lower yaw range limit for this joint, in degrees.

Returns:

lower yaw range limit

getMaxYaw

public double getMaxYaw()

Queries the upper yaw range limit for this joint, in degrees.

Returns:

upper yaw range limit

setYawRange

public void setYawRange(DoubleInterval range)

Sets the yaw range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If yaw travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).

Parameters:

range - yaw range limits for this joint

setYawRange

public void setYawRange(double min,
                        double max)

Sets the yaw range limits for this joint, in degrees. This is a convenience wrapper for setYawRange(DoubleInterval).

Parameters:

min - minimum yaw value

max - maximum yaw value

setMaxYaw

public void setMaxYaw(double max)

Sets the upper yaw range limit for this joint, in degrees. Setting a value of inf removes the upper limit.

Parameters:

max - upper yaw range limit

setMinYaw

public void setMinYaw(double min)

Sets the lower yaw range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.

Parameters:

min - lower yaw range limit

isYawLocked

public boolean isYawLocked()

Queries whether the yaw coordinate for this joint is locked.

Returns:

true if yaw is locked

setYawLocked

public void setYawLocked(boolean locked)

Set whether the yaw coordinate for this joint is locked.

Parameters:

locked - if true, locks yaw

setApplyEuler

public void setApplyEuler(boolean apply)

getApplyEuler

public boolean getApplyEuler()