artisynth.core.materials
Class NonlinearlyStiffFrameMaterial

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

public class NonlinearlyStiffFrameMaterial
extends FrameMaterial


Field Summary
static PropertyList myProps
           
 
Constructor Summary
NonlinearlyStiffFrameMaterial()
           
NonlinearlyStiffFrameMaterial(double k, double kr, double d, double dr)
           
 
Method Summary
 NonlinearlyStiffFrameMaterial 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.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

NonlinearlyStiffFrameMaterial

public NonlinearlyStiffFrameMaterial()

NonlinearlyStiffFrameMaterial

public NonlinearlyStiffFrameMaterial(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 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 NonlinearlyStiffFrameMaterial 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