public class SphericalRpyJoint extends GimbalJoint
GimbalJoint.AxisSetModelComponent.NavpanelVisibilitymyProps, PITCH_IDX, ROLL_IDX, YAW_IDXDEFAULT_JOINT_RADIUSDEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUSdebug, useOldDerivativeMethodenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNamesCOPY_REFERENCES, REST_POSITIONTG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATINGTRANSPARENT, TWO_DIMENSIONAL| Constructor and Description |
|---|
SphericalRpyJoint()
Creates a
SphericalRpyJoint which is not attached to any bodies. |
SphericalRpyJoint(ConnectableBody bodyA,
ConnectableBody bodyB,
Point3d pd)
Creates a
SphericalRpyJoint connecting two connectable bodies,
bodyA and bodyB. |
SphericalRpyJoint(ConnectableBody bodyA,
ConnectableBody bodyB,
RigidTransform3d TDW)
Creates a
SphericalRpyJoint connecting two connectable bodies,
bodyA and bodyB. |
SphericalRpyJoint(ConnectableBody bodyA,
ConnectableBody bodyB,
RigidTransform3d TCW,
RigidTransform3d TDW)
Creates a
SphericalRpyJoint connecting two connectable bodies,
bodyA and bodyB. |
SphericalRpyJoint(ConnectableBody bodyA,
RigidTransform3d TDW)
Creates a
SphericalRpyJoint connecting a single connectable body,
bodyA, to ground. |
SphericalRpyJoint(RigidBody bodyA,
RigidTransform3d TCA,
RigidBody bodyB,
RigidTransform3d TDB)
Creates a
SphericalRpyJoint connecting two rigid bodies, bodyA and bodyB. |
| Modifier and Type | Method and Description |
|---|---|
void |
printCoords(java.lang.String msg) |
getAllPropertyInfo, getApplyEuler, getAxes, getMaxPitch, getMaxRoll, getMaxYaw, getMinPitch, getMinRoll, getMinYaw, getPitch, getPitchRange, getRoll, getRollRange, getRpyRad, getYaw, getYawRange, isPitchLocked, isRollLocked, isYawLocked, setApplyEuler, setMaxPitch, setMaxRoll, setMaxYaw, setMinPitch, setMinRoll, setMinYaw, setPitch, setPitchLocked, setPitchRange, setPitchRange, setRoll, setRollLocked, setRollRange, setRollRange, setRpyRad, setYaw, setYawLocked, setYawRange, setYawRangecopy, getJointRadius, render, setJointRadius, updateBoundsaddCoordinateSolveBlocks, addCoordinateVelJacobian, applyCoordinateForce, coordinatesToTCD, getCoordinate, getCoordinateDeg, getCoordinateIndex, getCoordinateMotionType, getCoordinateName, getCoordinateRange, getCoordinateRangeDeg, getCoordinates, getCoordinateSpeed, getCoordinateValue, getMaxCoordinate, getMaxCoordinateDeg, getMinCoordinate, getMinCoordinateDeg, getPosition, getShaftLength, getShaftRadius, getStoredCoordinates, getStoredTCD, getStoredTCD, isCoordinateLocked, numCoordinates, setCoordinate, setCoordinateDeg, setCoordinateLocked, setCoordinateName, setCoordinateRange, setCoordinateRangeDeg, setCoordinates, setShaftLength, setShaftRadiusaddBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, 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, 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, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, zeroForcescreateRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderPropscheckFlag, 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, writeequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitgetCopyReferences, isDuplicatableconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetPropertygetChildren, hasChildrenpostscanisWritable, writetransformPriorityadvanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarStatepublic SphericalRpyJoint()
SphericalRpyJoint which is not attached to any bodies. It
can subsequently be connected using one of the setBodies methods.public SphericalRpyJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)
SphericalRpyJoint 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.
bodyA - rigid body ATCA - transform from joint frame C to body frame AbodyB - rigid body B (or null)TDB - transform from joint frame D to body frame Bpublic SphericalRpyJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)
SphericalRpyJoint 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.
bodyA - body AbodyB - body B (or null)TCW - initial transform from joint frame C to worldTDW - initial transform from joint frame D to worldpublic SphericalRpyJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)
SphericalRpyJoint 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.bodyA - body AbodyB - body BTDW - initial transform from joint frames D and C to worldpublic SphericalRpyJoint(ConnectableBody bodyA, RigidTransform3d TDW)
SphericalRpyJoint 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.bodyA - body ATDW - initial transform from joint frames D and C to worldpublic SphericalRpyJoint(ConnectableBody bodyA, ConnectableBody bodyB, Point3d pd)
SphericalRpyJoint 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 pd and its axes are aligned with
the world.
Specifying bodyB as null will cause bodyA to
be connected to ground.
bodyA - body AbodyB - body B, or null if bodyA is connected
to ground.pd - origin of frame D (world coordinates)