artisynth.core.materials
Class RotAxisFrameMaterial

java.lang.Object
  extended by artisynth.core.materials.MaterialBase
      extended by artisynth.core.materials.FrameMaterial
          extended by artisynth.core.materials.RotAxisFrameMaterial
All Implemented Interfaces:
ScalableUnits, java.lang.Cloneable, CompositeProperty, HasProperties, Clonable, Scannable

public class RotAxisFrameMaterial
extends FrameMaterial

A FrameMaterial that is linear with respect to the displacement between origins and also with respect to the displacement about the current rotation axis.


Field Summary
static PropertyList myProps
           
 
Constructor Summary
RotAxisFrameMaterial()
           
RotAxisFrameMaterial(double k, double kr, double d, double dr)
           
 
Method Summary
 RotAxisFrameMaterial clone()
          Returns a clone of this composite property.
 void computeDFdq(Matrix6d Jq, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21, boolean symmetric)
           
 void computeDFdu(Matrix6d Ju, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21, boolean symmetric)
           
 void computeF(Wrench wr, RigidTransform3d X21, Twist vel21, RigidTransform3d initialX21)
           
 boolean equals(FrameMaterial mat)
           
 PropertyList getAllPropertyInfo()
          Returns a list giving static information about all properties exported by this object.
 Vector3d getDamping()
           
 double getRotaryDamping()
           
 double getRotaryStiffness()
           
 Vector3d getStiffness()
           
 void setDamping(double d)
           
 void setDamping(double dx, double dy, double dz)
           
 void setDamping(Vector3d dvec)
           
 void setRotaryDamping(double d)
           
 void setRotaryStiffness(double k)
           
 void setStiffness(double k)
           
 void setStiffness(double kx, double ky, double kz)
           
 void setStiffness(Vector3d kvec)
           
 
Methods inherited from class artisynth.core.materials.FrameMaterial
equals, getSubClasses
 
Methods inherited from class artisynth.core.materials.MaterialBase
getProperty, getPropertyHost, getPropertyInfo, hasProperty, hasSymmetricTangent, isWritable, scaleDistance, scaleMass, scan, setPropertyHost, setPropertyInfo, tangentSymmetryChanged, updateMaterial, write
 
Methods inherited from class java.lang.Object
getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

myProps

public static PropertyList myProps
Constructor Detail

RotAxisFrameMaterial

public RotAxisFrameMaterial()

RotAxisFrameMaterial

public RotAxisFrameMaterial(double k,
                            double kr,
                            double d,
                            double dr)
Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()
Description copied from interface: HasProperties
Returns a list giving static information about all properties exported by this object.

Specified by:
getAllPropertyInfo in interface HasProperties
Overrides:
getAllPropertyInfo in class MaterialBase
Returns:
static information for all exported properties

getStiffness

public Vector3d getStiffness()

setStiffness

public void setStiffness(double k)

setStiffness

public void setStiffness(double kx,
                         double ky,
                         double kz)

setStiffness

public void setStiffness(Vector3d kvec)

getDamping

public Vector3d getDamping()

setDamping

public void setDamping(double d)

setDamping

public void setDamping(double dx,
                       double dy,
                       double dz)

setDamping

public void setDamping(Vector3d dvec)

getRotaryStiffness

public double getRotaryStiffness()

setRotaryStiffness

public void setRotaryStiffness(double k)

getRotaryDamping

public double getRotaryDamping()

setRotaryDamping

public void setRotaryDamping(double d)

computeF

public void computeF(Wrench wr,
                     RigidTransform3d X21,
                     Twist vel21,
                     RigidTransform3d initialX21)
Specified by:
computeF in class FrameMaterial

computeDFdq

public void computeDFdq(Matrix6d Jq,
                        RigidTransform3d X21,
                        Twist vel21,
                        RigidTransform3d initialX21,
                        boolean symmetric)
Specified by:
computeDFdq in class FrameMaterial

computeDFdu

public void computeDFdu(Matrix6d Ju,
                        RigidTransform3d X21,
                        Twist vel21,
                        RigidTransform3d initialX21,
                        boolean symmetric)
Specified by:
computeDFdu in class FrameMaterial

equals

public boolean equals(FrameMaterial mat)
Overrides:
equals in class FrameMaterial

clone

public RotAxisFrameMaterial clone()
Description copied from interface: CompositeProperty
Returns a clone of this composite property.

Specified by:
clone in interface CompositeProperty
Specified by:
clone in interface Clonable
Overrides:
clone in class FrameMaterial
Returns:
clone of this property