public class JointCoordinateHandle
extends java.lang.Object
Constructor and Description |
---|
JointCoordinateHandle() |
JointCoordinateHandle(JointBase joint,
int idx) |
JointCoordinateHandle(JointCoordinateHandle ch) |
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) |
public JointCoordinateHandle()
public JointCoordinateHandle(JointBase joint, int idx)
public JointCoordinateHandle(JointCoordinateHandle ch)
public void set(JointCoordinateHandle ch)
public JointBase getJoint()
public int getIndex()
public java.lang.String getName()
public double getValue()
public void setValue(double value)
public double getStoredValue()
public DoubleInterval getValueRange()
public double getValueDeg()
public double getStoredValueDeg()
public void setValueDeg(double value)
public DoubleInterval getValueRangeDeg()
public double getSpeed()
public double getSpeedDeg()
public void applyForce(double f)
public void addSolveBlocks(SparseNumberedBlockMatrix M)
public void addVelJacobian(SparseNumberedBlockMatrix M, double s)
public RigidBodyConstraint.MotionType getMotionType()
public java.lang.String getCoordinateName()
public Wrench getWrench()
public void write(java.io.PrintWriter pw, CompositeComponent ancestor) throws java.io.IOException
java.io.IOException
public void scan(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens) throws java.io.IOException
java.io.IOException
public void postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) throws java.io.IOException
java.io.IOException
public boolean equals(JointCoordinateHandle jch)