artisynth.core.materials

Class OffsetLinearFrameMaterial

java.lang.Object

artisynth.core.materials.MaterialBase

artisynth.core.materials.FrameMaterial

artisynth.core.materials.OffsetLinearFrameMaterial

All Implemented Interfaces:

HasMaterialState, PostScannable, ScalableUnits, java.lang.Cloneable, CompositeProperty, HasProperties, Clonable, Scannable

public class OffsetLinearFrameMaterial
extends FrameMaterial

A FrameMaterial that is linear under small rotation assumptions and allows separate stiffness and damping along each of the the six degrees of freedom. Its difference from LinearFrameMaterial is that instead of zero, initialX21 will be set as the resting length of the spring.

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Constructor Summary

Constructors

Constructor and Description
OffsetLinearFrameMaterial()
OffsetLinearFrameMaterial(double k, double kr, double d, double dr)

Method Summary

Modifier and Type	Method and Description
OffsetLinearFrameMaterial	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

advanceState, createStateObject, 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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

OffsetLinearFrameMaterial

public OffsetLinearFrameMaterial()

OffsetLinearFrameMaterial

public OffsetLinearFrameMaterial(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 OffsetLinearFrameMaterial 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