FrameState (Artisynth API documentation)

java.lang.Object
- artisynth.core.mechmodels.FrameState

All Implemented Interfaces:: ScalableUnits

public class FrameState
extends java.lang.Object
implements ScalableUnits

Constructor Summary

Constructors
Constructor and Description

FrameState()

Constructors
Constructor and Description
`FrameState()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addScaledVelocity(double s, Twist v)` Adds a scaled velocity to this frame's existing velocity.
`void`	`addVelocity(Twist v)` Adds a velocity to this frame's existing velocity.
`void`	`adjustPose(Twist delx)` Adjusts the pose of this FrameState by an increment specified as a twist delx.
`void`	`adjustPose(Twist vel, double h)` Adjusts the pose of this FrameState by a velocity (in Frame coordinates) applied over a time interval h.
`boolean`	`equals(ComponentState state)`
`int`	`get(VectorNd x, int idx)`
`AxisAngle`	`getAxisAngle()`
`int`	`getBodyVel(double[] buf, int idx, Twist bodyVel)`
`void`	`getBodyVelocity(Twist v)` Gets the velocity of the frame in body coordinates.
`int`	`getPos(double[] buf, int idx)`
`RigidTransform3d`	`getPose()`
`void`	`getPose(RigidTransform3d X)`
`Point3d`	`getPosition()`
`Quaternion`	`getRotation()`
`int`	`getVel(double[] buf, int idx)`
`Twist`	`getVelocity()` Returns the velocity of the frame in world coordinates.
`void`	`getVelocity(Twist v)` Gets the velocity of the frame in world coordinates.
`void`	`rotDerivative(Quaternion qvel)` Computes the time derivative of qrot given the current value of w.
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`set(FrameState state)`
`int`	`set(VectorNd x, int idx)`
`int`	`setBodyVel(double[] buf, int idx)`
`void`	`setBodyVelocity(Twist v)` Sets the velocity of the frame in body coordinates.
`int`	`setPos(double[] buf, int idx)`
`void`	`setPose(RigidTransform3d X)`
`void`	`setPosition(Point3d p)`
`void`	`setRotation(Quaternion q)`
`int`	`setVel(double[] buf, int idx)`
`void`	`setVelocity(Twist v)` Sets the velocity of the frame in world coordinates.
`java.lang.String`	`toString()`
`java.lang.String`	`toString(NumberFormat fmt)`
`java.lang.String`	`toString(java.lang.String fmtStr)`
`void`	`updatePose()`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - FrameState
```
public FrameState()
```
- Method Detail
  - set
```
public void set(FrameState state)
```
  - set
```
public int set(VectorNd x,
               int idx)
```
  - get
```
public int get(VectorNd x,
               int idx)
```
  - setPose
```
public void setPose(RigidTransform3d X)
```
  - adjustPose
```
public void adjustPose(Twist delx)
```
    Adjusts the pose of this FrameState by an increment specified as a twist delx. The increment is specified in the frame of the pose itself. In other words, if the frame pose is X, and dX is the rigid transform associated with delx, then this routine computes
```
   X = X dX
 
```
    Parameters:
    
    delx - incremental displacement
  - adjustPose
```
public void adjustPose(Twist vel,
                       double h)
```
    Adjusts the pose of this FrameState by a velocity (in Frame coordinates) applied over a time interval h. In other words, if the frame pose is X, and vel is a twist specifying the velocity, then this routine computes
```
  X = X vel h
 
```
    Parameters:
    
    vel - velocity in frame coordinates
    
    h - time interval over which to apply the velocity
  - updatePose
```
public void updatePose()
```
  - getPose
```
public RigidTransform3d getPose()
```
  - getPose
```
public void getPose(RigidTransform3d X)
```
  - getPosition
```
public Point3d getPosition()
```
  - setPosition
```
public void setPosition(Point3d p)
```
  - getRotation
```
public Quaternion getRotation()
```
  - setRotation
```
public void setRotation(Quaternion q)
```
  - setVelocity
```
public void setVelocity(Twist v)
```
    Sets the velocity of the frame in world coordinates.
    
    Parameters:
    
    v - spatial velocity
  - addVelocity
```
public void addVelocity(Twist v)
```
    Adds a velocity to this frame's existing velocity.
    
    Parameters:
    
    v - spatial velocity to add
  - addScaledVelocity
```
public void addScaledVelocity(double s,
                              Twist v)
```
    Adds a scaled velocity to this frame's existing velocity.
    
    Parameters:
    
    s - scale factor
    
    v - spatial velocity to add
  - getVelocity
```
public Twist getVelocity()
```
    Returns the velocity of the frame in world coordinates.
    
    Returns:
    
    frame velocity in world coordinates (should not be modified)
  - getVelocity
```
public void getVelocity(Twist v)
```
    Gets the velocity of the frame in world coordinates.
    
    Parameters:
    
    v - returns the spatial velocity
  - getBodyVelocity
```
public void getBodyVelocity(Twist v)
```
    Gets the velocity of the frame in body coordinates.
    
    Parameters:
    
    v - returns the spatial velocity
  - setBodyVelocity
```
public void setBodyVelocity(Twist v)
```
    Sets the velocity of the frame in body coordinates.
    
    Parameters:
    
    v - spatial velocity
  - rotDerivative
```
public void rotDerivative(Quaternion qvel)
```
    Computes the time derivative of qrot given the current value of w.
    
    Parameters:
    
    qvel - returns the derivative of qrot
  - getPos
```
public int getPos(double[] buf,
                  int idx)
```
  - getAxisAngle
```
public AxisAngle getAxisAngle()
```
  - getVel
```
public int getVel(double[] buf,
                  int idx)
```
  - getBodyVel
```
public int getBodyVel(double[] buf,
                      int idx,
                      Twist bodyVel)
```
  - setPos
```
public int setPos(double[] buf,
                  int idx)
```
  - setVel
```
public int setVel(double[] buf,
                  int idx)
```
  - setBodyVel
```
public int setBodyVel(double[] buf,
                      int idx)
```
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class java.lang.Object
  - toString
```
public java.lang.String toString(NumberFormat fmt)
```
  - toString
```
public java.lang.String toString(java.lang.String fmtStr)
```
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - equals
```
public boolean equals(ComponentState state)
```

Class FrameState

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

FrameState

Method Detail

set

set

get

setPose

adjustPose

adjustPose

updatePose

getPose

getPose

getPosition

setPosition

getRotation

setRotation

setVelocity

addVelocity

addScaledVelocity

getVelocity

getVelocity

getBodyVelocity

setBodyVelocity

rotDerivative

getPos

getAxisAngle

getVel

getBodyVel

setPos

setVel

setBodyVel

toString

toString

toString

scaleDistance

scaleMass

equals