com.yobotics.simulationconstructionset
Class FloatingJoint

java.lang.Object
  com.yobotics.simulationconstructionset.Joint
      com.yobotics.simulationconstructionset.FloatingJoint

All Implemented Interfaces:

java.io.Serializable

public class FloatingJoint
extends Joint

Title: Yobotics! Simulation Construction Set

Description: Package for Simulating Dynamic Robots and Mechanisms

Copyright: Copyright (c) Jerry Pratt

Company: Yobotics, Inc.

Version:

Beta 1.0

Author:

Jerry Pratt

See Also:

Serialized Form

Field Summary

Fields inherited from class com.yobotics.simulationconstructionset.Joint

MAX_ROT_ACCEL, MAX_TRANS_ACCEL, X, Y, Z

Constructor Summary

FloatingJoint(java.lang.String jname, java.lang.String varName, javax.vecmath.Vector3d offset, Robot rob)

FloatingJoint(java.lang.String jname, javax.vecmath.Vector3d offset, Robot rob)

Method Summary

void	getXYZ(javax.vecmath.Tuple3d xyz)
void	getXYZ(javax.vecmath.Tuple3d xyz, javax.vecmath.Tuple3d xyzVelocity)
void	getXYZ(YoVariable x, YoVariable y, YoVariable z)
void	getXYZ(YoVariable x, YoVariable y, YoVariable z, YoVariable xDot, YoVariable yDot, YoVariable zDot)
void	getYawPitchRoll(YoVariable yaw, YoVariable pitch, YoVariable roll)
void	setRotation(javax.vecmath.Matrix3d rotation)
void	setXYZ(double x, double y, double z)
void	setXYZ(double x, double y, double z, double dx, double dy, double dz)
void	setXYZ(javax.vecmath.Tuple3d position, javax.vecmath.Tuple3d velocity)
void	setYawPitchRoll(double yaw, double pitch, double roll)
void	setYawPitchRoll(double yaw, double pitch, double roll, double wz, double wy, double wx)

Methods inherited from class com.yobotics.simulationconstructionset.Joint

addCameraMount, addExternalForcePoint, addGroundContactPoint, addJoint, addKinematicPoint, addRangeSensor, changeOffsetVector, changeOffsetVector, getChildrenJoints, getGroundContactPointGroup, getJointAxis, getLink, getName, getOffset, getRotationFromWorld, getRotationFromWorld, getTransformFromWorld, getTransformFromWorld, getTranslationFromWorld, getXYZFromWorld, getYawPitchRollFromWorld, isDynamic, recursiveDecideGroundContactPointsInContact, recursiveUpdateAllGroundContactPointVelocities, setDynamic, setLink, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

FloatingJoint

public FloatingJoint(java.lang.String jname,
                     javax.vecmath.Vector3d offset,
                     Robot rob)

FloatingJoint

public FloatingJoint(java.lang.String jname,
                     java.lang.String varName,
                     javax.vecmath.Vector3d offset,
                     Robot rob)

Method Detail

setXYZ

public void setXYZ(double x,
                   double y,
                   double z)

setXYZ

public void setXYZ(double x,
                   double y,
                   double z,
                   double dx,
                   double dy,
                   double dz)

setXYZ

public void setXYZ(javax.vecmath.Tuple3d position,
                   javax.vecmath.Tuple3d velocity)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll,
                            double wz,
                            double wy,
                            double wx)

setRotation

public void setRotation(javax.vecmath.Matrix3d rotation)

getXYZ

public void getXYZ(YoVariable x,
                   YoVariable y,
                   YoVariable z)

getXYZ

public void getXYZ(YoVariable x,
                   YoVariable y,
                   YoVariable z,
                   YoVariable xDot,
                   YoVariable yDot,
                   YoVariable zDot)

getXYZ

public void getXYZ(javax.vecmath.Tuple3d xyz)

getXYZ

public void getXYZ(javax.vecmath.Tuple3d xyz,
                   javax.vecmath.Tuple3d xyzVelocity)

getYawPitchRoll

public void getYawPitchRoll(YoVariable yaw,
                            YoVariable pitch,
                            YoVariable roll)