artisynth.core.materials
Class FrameMaterial

java.lang.Object
  extended by artisynth.core.materials.MaterialBase
      extended by 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.


Field Summary
 
Fields inherited from class artisynth.core.materials.MaterialBase
myProps
 
Constructor Summary
FrameMaterial()
           
 
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
 

Constructor Detail

FrameMaterial

public FrameMaterial()
Method Detail

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