artisynth.core.materials
Class LinearFrameMaterial
java.lang.Object
artisynth.core.materials.MaterialBase
artisynth.core.materials.FrameMaterial
artisynth.core.materials.LinearFrameMaterial
- All Implemented Interfaces:
- ScalableUnits, java.lang.Cloneable, CompositeProperty, HasProperties, Clonable, Scannable
public class LinearFrameMaterial
- extends FrameMaterial
A FrameMaterial that is linear under small rotation assumptions and allows
separate stiffness and damping along each of the the six degrees of freedom.
Method Summary |
LinearFrameMaterial |
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()
|
Vector3d |
getRotaryDamping()
|
Vector3d |
getRotaryStiffness()
|
Vector3d |
getStiffness()
|
void |
setDamping(double d)
|
void |
setDamping(double dx,
double dy,
double dz)
|
void |
setDamping(Vector3d dvec)
|
void |
setRotaryDamping(double d)
|
void |
setRotaryDamping(double dx,
double dy,
double dz)
|
void |
setRotaryDamping(Vector3d dvec)
|
void |
setRotaryStiffness(double k)
|
void |
setRotaryStiffness(double kx,
double ky,
double kz)
|
void |
setRotaryStiffness(Vector3d kvec)
|
void |
setStiffness(double k)
|
void |
setStiffness(double kx,
double ky,
double kz)
|
void |
setStiffness(Vector3d kvec)
|
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 |
myProps
public static PropertyList myProps
LinearFrameMaterial
public LinearFrameMaterial()
LinearFrameMaterial
public LinearFrameMaterial(double k,
double kr,
double d,
double dr)
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 Vector3d getRotaryStiffness()
setRotaryStiffness
public void setRotaryStiffness(double k)
setRotaryStiffness
public void setRotaryStiffness(double kx,
double ky,
double kz)
setRotaryStiffness
public void setRotaryStiffness(Vector3d kvec)
getRotaryDamping
public Vector3d getRotaryDamping()
setRotaryDamping
public void setRotaryDamping(double d)
setRotaryDamping
public void setRotaryDamping(double dx,
double dy,
double dz)
setRotaryDamping
public void setRotaryDamping(Vector3d dvec)
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 LinearFrameMaterial 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