com.yobotics.simulationconstructionset
Class UniversalJoint

java.lang.Object
  com.yobotics.simulationconstructionset.Joint
      com.yobotics.simulationconstructionset.PinJoint
          com.yobotics.simulationconstructionset.UniversalJoint

All Implemented Interfaces:

java.io.Serializable

public class UniversalJoint
extends PinJoint

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

UniversalJoint(java.lang.String jname1, java.lang.String jname2, javax.vecmath.Vector3d offset, Robot rob, int firstAxis, int secondAxis)

Method Summary

void	addCameraMount(CameraMount mount) Adds the specified camera mount to this joint.
void	addExternalForcePoint(ExternalForcePoint point) Adds the specified ExternalForcePoint.
void	addGroundContactPoint(GroundContactPoint point) Adds the specified GroundContactPoint to this joint.
void	addJoint(Joint nextJoint) Adds the specified joint as a child of this joint.
void	addKinematicPoint(KinematicPoint point) Adds the specified KinematicPoint to this joint.
void	getRotationFromWorld(javax.vecmath.Matrix3d rotation) Retrieves the rotational component of the transform between world space and this joint space.
void	getRotationFromWorld(javax.vecmath.Quat4d rotation) Retrieves the quaternion representation of the rotational component of the transform between world space and this joint space.
void	getState(double[] state) Inserts the given position and velocity of this pin joint into the provided array.
void	getTranslationFromWorld(javax.vecmath.Vector3d translation) Retrieves the translational component of the transform between world space and this joint space in vector form.
void	setDamping(double b_damp) Specifies the overall damping constant for this joint.
void	setDamping(int axis, double b_damp)
void	setInitialState(double q1_init, double qd1_init, double q2_init, double qd2_init)
void	setLimitStops(int axis, double q_min, double q_max, double k_limit, double b_limit)
void	setLink(Link l) Sets the link for this joint.

Methods inherited from class com.yobotics.simulationconstructionset.PinJoint

getQ, getQD, getQDD, getTau, setInitialState, setLimitStops, setTau, setTorqueLimits, setVelocityLimits

Methods inherited from class com.yobotics.simulationconstructionset.Joint

addRangeSensor, changeOffsetVector, changeOffsetVector, getChildrenJoints, getGroundContactPointGroup, getJointAxis, getLink, getName, getOffset, getTransformFromWorld, getTransformFromWorld, getXYZFromWorld, getYawPitchRollFromWorld, isDynamic, recursiveDecideGroundContactPointsInContact, recursiveUpdateAllGroundContactPointVelocities, setDynamic, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

UniversalJoint

public UniversalJoint(java.lang.String jname1,
                      java.lang.String jname2,
                      javax.vecmath.Vector3d offset,
                      Robot rob,
                      int firstAxis,
                      int secondAxis)

Method Detail

addJoint

public void addJoint(Joint nextJoint)

Description copied from class: Joint

Adds the specified joint as a child of this joint. This function also handles all setup necessary for back tracking from child to parent. Each joint must have an associated link before being added.

Overrides:

addJoint in class Joint

Parameters:

nextJoint - Child joint to be added.

setLink

public void setLink(Link l)

Description copied from class: Joint

Sets the link for this joint. If a previous link existed it is replaced, removing all graphics.

Overrides:

setLink in class Joint

Parameters:

l - New link for this joint.

addCameraMount

public void addCameraMount(CameraMount mount)

Description copied from class: Joint

Adds the specified camera mount to this joint. A single joint may contain multiple mounts.

Overrides:

addCameraMount in class Joint

Parameters:

mount - CameraMount to be added.

See Also:

CameraMount

addKinematicPoint

public void addKinematicPoint(KinematicPoint point)

Description copied from class: Joint

Adds the specified KinematicPoint to this joint. These points allow external forces and effects to be applied while also providing a means to monitor position and velocity. Currently the only implementation internal to SCS is the ExternalForcePoint.

Overrides:

addKinematicPoint in class Joint

Parameters:

point - KinematicPoint to be added.

See Also:

KinematicPoint

addGroundContactPoint

public void addGroundContactPoint(GroundContactPoint point)

Description copied from class: Joint

Adds the specified GroundContactPoint to this joint. These points allow ground contact modeling to occur which provides a means of robot ground interaction. For further examples see the tutorial.

Overrides:

addGroundContactPoint in class Joint

Parameters:

point - GroundContactPoint

See Also:

GroundContactPoint, GroundContactModel

addExternalForcePoint

public void addExternalForcePoint(ExternalForcePoint point)

Description copied from class: Joint

Adds the specified ExternalForcePoint. These points allow forces to be applied to particular joints allowing the creation of certain mechanical structures such as four-bar-linkages. See the tutorial for further details.

Overrides:

addExternalForcePoint in class Joint

Parameters:

point - ExternalForcePoint

See Also:

ExternalForcePoint

setLimitStops

public void setLimitStops(int axis,
                          double q_min,
                          double q_max,
                          double k_limit,
                          double b_limit)

setDamping

public void setDamping(int axis,
                       double b_damp)

setDamping

public void setDamping(double b_damp)

Description copied from class: PinJoint

Specifies the overall damping constant for this joint. If specified a torque base on this constant and the current velocity will be applied.

Overrides:

setDamping in class PinJoint

Parameters:

b_damp - general damping constant for this joint

setInitialState

public void setInitialState(double q1_init,
                            double qd1_init,
                            double q2_init,
                            double qd2_init)

getState

public void getState(double[] state)

Description copied from class: PinJoint

Inserts the given position and velocity of this pin joint into the provided array. Index zero contains the position (angle) in radians, while index one contains the velocity.

Overrides:

getState in class PinJoint

Parameters:

state - double[]

getRotationFromWorld

public void getRotationFromWorld(javax.vecmath.Matrix3d rotation)

Description copied from class: Joint

Retrieves the rotational component of the transform between world space and this joint space.

Overrides:

getRotationFromWorld in class Joint

Parameters:

rotation - Matrix3d containing the rotational component.

getRotationFromWorld

public void getRotationFromWorld(javax.vecmath.Quat4d rotation)

Description copied from class: Joint

Retrieves the quaternion representation of the rotational component of the transform between world space and this joint space.

Overrides:

getRotationFromWorld in class Joint

Parameters:

rotation - Quat4d to store the rotational transform.

getTranslationFromWorld

public void getTranslationFromWorld(javax.vecmath.Vector3d translation)

Description copied from class: Joint

Retrieves the translational component of the transform between world space and this joint space in vector form.

Overrides:

getTranslationFromWorld in class Joint

Parameters:

translation - Vector3d representing the translation between world and joint space.