artisynth.core.materials

Class FrameMaterial

java.lang.Object

artisynth.core.materials.MaterialBase

artisynth.core.materials.FrameMaterial

All Implemented Interfaces:

HasMaterialState, PostScannable, 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

Constructors

Constructor and Description
FrameMaterial()

Method Summary

Modifier and Type	Method and Description
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

advanceState, createStateObject, getAllPropertyInfo, getProperty, getPropertyHost, getPropertyInfo, hasProperty, hasState, hasSymmetricTangent, isWritable, postscan, scaleDistance, scaleMass, scan, setPropertyHost, setPropertyInfo, symmetryOrStateChanged, updateMaterial, write, writeItems

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