artisynth.core.materials
Class RotAxisFrameMaterial
java.lang.Object
artisynth.core.materials.MaterialBase
artisynth.core.materials.FrameMaterial
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.
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.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
RotAxisFrameMaterial
public RotAxisFrameMaterial()
RotAxisFrameMaterial
public RotAxisFrameMaterial(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 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