artisynth.core.mechmodels
Class FrameTarget

java.lang.Object
  extended by artisynth.core.mechmodels.MotionTarget
      extended by artisynth.core.mechmodels.FrameTarget

public class FrameTarget
extends MotionTarget

Contains motion target information for a point.


Nested Class Summary
 
Nested classes/interfaces inherited from class artisynth.core.mechmodels.MotionTarget
MotionTarget.TargetActivity
 
Constructor Summary
FrameTarget(MotionTarget.TargetActivity explicitActivity)
           
 
Method Summary
 AxisAngle getTargetAxisAngle(FrameState state)
           
 int getTargetPos(double[] buf, double s, double h, FrameState state, int idx)
           
 Point3d getTargetPos(FrameState state)
           
 void getTargetPos(Vector3d post, Quaternion rott, double s, double h, FrameState state)
           
 RigidTransform3d getTargetPose(FrameState state)
           
 Quaternion getTargetRot(FrameState state)
           
 int getTargetVel(double[] buf, double s, double h, FrameState state, int idx)
           
 Twist getTargetVel(FrameState state)
           
 void getTargetVel(Twist velt, double s, double h, FrameState state)
           
 int setTargetPos(double[] buf, int idx)
           
 void setTargetPos(Vector3d pos)
           
 void setTargetRot(AxisAngle axisAng)
           
 void setTargetRot(Quaternion rot)
           
 void setTargetRot(RotationMatrix3d R)
           
 int setTargetVel(double[] buf, FrameState state, int idx)
           
 void setTargetVel(Twist vel)
           
 void syncState(MotionTarget.TargetActivity prev, FrameState state)
           
 
Methods inherited from class artisynth.core.mechmodels.MotionTarget
getActivity, isPositionActive, isVelocityActive, setActivity
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

FrameTarget

public FrameTarget(MotionTarget.TargetActivity explicitActivity)
Method Detail

setTargetPos

public void setTargetPos(Vector3d pos)

getTargetPos

public Point3d getTargetPos(FrameState state)

setTargetRot

public void setTargetRot(Quaternion rot)

setTargetRot

public void setTargetRot(AxisAngle axisAng)

setTargetRot

public void setTargetRot(RotationMatrix3d R)

getTargetRot

public Quaternion getTargetRot(FrameState state)

getTargetAxisAngle

public AxisAngle getTargetAxisAngle(FrameState state)

getTargetPose

public RigidTransform3d getTargetPose(FrameState state)

setTargetVel

public void setTargetVel(Twist vel)

getTargetVel

public Twist getTargetVel(FrameState state)

syncState

public void syncState(MotionTarget.TargetActivity prev,
                      FrameState state)

getTargetVel

public void getTargetVel(Twist velt,
                         double s,
                         double h,
                         FrameState state)

getTargetPos

public void getTargetPos(Vector3d post,
                         Quaternion rott,
                         double s,
                         double h,
                         FrameState state)

getTargetVel

public int getTargetVel(double[] buf,
                        double s,
                        double h,
                        FrameState state,
                        int idx)

setTargetVel

public int setTargetVel(double[] buf,
                        FrameState state,
                        int idx)

getTargetPos

public int getTargetPos(double[] buf,
                        double s,
                        double h,
                        FrameState state,
                        int idx)

setTargetPos

public int setTargetPos(double[] buf,
                        int idx)