artisynth.core.mechmodels

Class JointCoordinateHandle

java.lang.Object

artisynth.core.mechmodels.JointCoordinateHandle

public class JointCoordinateHandle
extends java.lang.Object

Handle for accessing values and operations specific to a joint coordinate. Its methods map onto corresponding JointBase methods involving a specific coordinate index.

Constructor Summary

Constructors

Constructor and Description
JointCoordinateHandle()
JointCoordinateHandle(JointBase joint, int idx)
JointCoordinateHandle(JointCoordinateHandle ch)

Method Summary

Modifier and Type	Method and Description
void	addSolveBlocks(SparseNumberedBlockMatrix M)
void	addVelJacobian(SparseNumberedBlockMatrix M, double s)
void	applyForce(double f)
boolean	equals(JointCoordinateHandle jch) Checks if this coordinate handle equals another.
java.lang.String	getCoordinateName()
int	getIndex()
JointBase	getJoint()
RigidBodyConstraint.MotionType	getMotionType()
java.lang.String	getName()
double	getSpeed()
double	getSpeedDeg()
double	getStoredValue()
double	getStoredValueDeg()
double	getValue()
double	getValueDeg()
DoubleInterval	getValueRange()
DoubleInterval	getValueRangeDeg()
Wrench	getWrench()
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)
void	scan(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)
void	set(JointCoordinateHandle ch)
void	setValue(double value)
void	setValueDeg(double value)
void	write(java.io.PrintWriter pw, CompositeComponent ancestor)

Methods inherited from class java.lang.Object

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

Constructor Detail

JointCoordinateHandle

public JointCoordinateHandle()

JointCoordinateHandle

public JointCoordinateHandle(JointBase joint,
                             int idx)

JointCoordinateHandle

public JointCoordinateHandle(JointCoordinateHandle ch)

Method Detail

set

public void set(JointCoordinateHandle ch)

getJoint

public JointBase getJoint()

getIndex

public int getIndex()

getName

public java.lang.String getName()

getValue

public double getValue()

setValue

public void setValue(double value)

getStoredValue

public double getStoredValue()

getValueRange

public DoubleInterval getValueRange()

getValueDeg

public double getValueDeg()

getStoredValueDeg

public double getStoredValueDeg()

setValueDeg

public void setValueDeg(double value)

getValueRangeDeg

public DoubleInterval getValueRangeDeg()

getSpeed

public double getSpeed()

getSpeedDeg

public double getSpeedDeg()

applyForce

public void applyForce(double f)

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)

getMotionType

public RigidBodyConstraint.MotionType getMotionType()

getCoordinateName

public java.lang.String getCoordinateName()

getWrench

public Wrench getWrench()

write

public void write(java.io.PrintWriter pw,
                  CompositeComponent ancestor)
           throws java.io.IOException

Throws:

java.io.IOException

scan

public void scan(ReaderTokenizer rtok,
                 java.util.Deque<ScanToken> tokens)
          throws java.io.IOException

Throws:

java.io.IOException

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Throws:

java.io.IOException

equals

public boolean equals(JointCoordinateHandle jch)

Checks if this coordinate handle equals another. Handles are equal if they refer to the same joint and the same coordinate index.