artisynth.core.opensim.customjoint

Class OpenSimCustomCoupling.TAxis

java.lang.Object

artisynth.core.opensim.customjoint.OpenSimCustomCoupling.TAxis

Enclosing class:

OpenSimCustomCoupling

public static class OpenSimCustomCoupling.TAxis
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
TAxis() No-args constructor needed for scan/write.
TAxis(TransformAxis info, java.util.HashMap<java.lang.String,java.lang.Integer> cmap)

Method Summary

Modifier and Type	Method and Description
void	addToHv(MatrixNd H, VectorNd coords) For a translation axis, add the contribution to the v component of the mobility vectors.
void	addToHw(MatrixNd H, RotationMatrix3d R, VectorNd coords, boolean last) For a rotation axis, add the contribution to the w component of the mobility vectors.
void	applyRotation(RotationMatrix3d R, VectorNd coords) Apply rotation for a rotation axis
void	applyTranslation(Vector3d p, VectorNd coords) Apply translation for a translation axis
Vector3d	getAxis()
void	scan(ReaderTokenizer rtok, java.lang.Object ref)
void	write(java.io.PrintWriter pw, NumberFormat fmt, java.lang.Object ref)

Methods inherited from class java.lang.Object

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

Constructor Detail

TAxis

public TAxis()

No-args constructor needed for scan/write.

TAxis

public TAxis(TransformAxis info,
             java.util.HashMap<java.lang.String,java.lang.Integer> cmap)

Method Detail

applyTranslation

public void applyTranslation(Vector3d p,
                             VectorNd coords)

Apply translation for a translation axis

addToHv

public void addToHv(MatrixNd H,
                    VectorNd coords)

For a translation axis, add the contribution to the v component of the mobility vectors.

applyRotation

public void applyRotation(RotationMatrix3d R,
                          VectorNd coords)

Apply rotation for a rotation axis

addToHw

public void addToHw(MatrixNd H,
                    RotationMatrix3d R,
                    VectorNd coords,
                    boolean last)

For a rotation axis, add the contribution to the w component of the mobility vectors.

getAxis

public Vector3d getAxis()

scan

public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException

Throws:

java.io.IOException

write

public void write(java.io.PrintWriter pw,
                  NumberFormat fmt,
                  java.lang.Object ref)
           throws java.io.IOException

Throws:

java.io.IOException