artisynth.core.materials
Class FrameMaterial
java.lang.Object
artisynth.core.materials.MaterialBase
artisynth.core.materials.FrameMaterial
- All Implemented Interfaces:
- ScalableUnits, java.lang.Cloneable, CompositeProperty, HasProperties, Clonable, Scannable
- Direct Known Subclasses:
- HeuerOffLinFM, LinearFrameMaterial, NonlinearlyStiffFrameMaterial, OffsetLinearFrameMaterial, RotAxisFrameMaterial
public abstract class FrameMaterial
- extends MaterialBase
Base material for a FrameSpring.
Method Summary |
FrameMaterial |
clone()
Returns a clone of this composite property. |
abstract void |
computeDFdq(Matrix6d Jq,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21,
boolean symmetric)
|
abstract void |
computeDFdu(Matrix6d Ju,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21,
boolean symmetric)
|
abstract void |
computeF(Wrench wr,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21)
|
boolean |
equals(FrameMaterial mat)
|
boolean |
equals(java.lang.Object obj)
|
static java.lang.Class<?>[] |
getSubClasses()
|
Methods inherited from class artisynth.core.materials.MaterialBase |
getAllPropertyInfo, 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 |
FrameMaterial
public FrameMaterial()
getSubClasses
public static java.lang.Class<?>[] getSubClasses()
computeF
public abstract void computeF(Wrench wr,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21)
computeDFdq
public abstract void computeDFdq(Matrix6d Jq,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21,
boolean symmetric)
computeDFdu
public abstract void computeDFdu(Matrix6d Ju,
RigidTransform3d X21,
Twist vel21,
RigidTransform3d initialX21,
boolean symmetric)
equals
public boolean equals(FrameMaterial mat)
equals
public boolean equals(java.lang.Object obj)
- Overrides:
equals
in class java.lang.Object
clone
public FrameMaterial 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 MaterialBase
- Returns:
- clone of this property