com.yobotics.simulationconstructionset
Class FloatingPlanarJoint

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

All Implemented Interfaces:

java.io.Serializable

public class FloatingPlanarJoint
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

static int	XY
static int	XZ
static int	YZ

Fields inherited from class com.yobotics.simulationconstructionset.Joint

MAX_ROT_ACCEL, MAX_TRANS_ACCEL, X, Y, Z

Constructor Summary

FloatingPlanarJoint(java.lang.String jname, Robot rob)

FloatingPlanarJoint(java.lang.String jname, Robot rob, int type)

FloatingPlanarJoint(java.lang.String jname, java.lang.String varName, Robot rob, int type)

Method Summary

int	getType()
void	setCartesianPosition(double t1, double t2)
void	setCartesianPosition(double t1, double t2, double t1Dot, double t2Dot)
void	setCartesianPosition(javax.vecmath.Tuple2d position, javax.vecmath.Tuple2d velocity)
void	setRotation(double theta)
void	setRotation(double theta, double thetaDot)

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

Field Detail

XY

public static final int XY

See Also:

Constant Field Values

YZ

public static final int YZ

See Also:

Constant Field Values

XZ

public static final int XZ

See Also:

Constant Field Values

Constructor Detail

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           Robot rob)

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           Robot rob,
                           int type)

FloatingPlanarJoint

public FloatingPlanarJoint(java.lang.String jname,
                           java.lang.String varName,
                           Robot rob,
                           int type)

Method Detail

setCartesianPosition

public void setCartesianPosition(double t1,
                                 double t2)

setCartesianPosition

public void setCartesianPosition(double t1,
                                 double t2,
                                 double t1Dot,
                                 double t2Dot)

setCartesianPosition

public void setCartesianPosition(javax.vecmath.Tuple2d position,
                                 javax.vecmath.Tuple2d velocity)

setRotation

public void setRotation(double theta)

setRotation

public void setRotation(double theta,
                        double thetaDot)

getType

public int getType()