artisynth.core.mechmodels

Class FrameTarget

java.lang.Object

artisynth.core.mechmodels.MotionTarget

artisynth.core.mechmodels.FrameTarget

public class FrameTarget
extends MotionTarget

Contains motion target information for a point.

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.MotionTarget

MotionTarget.TargetActivity

Constructor Summary

Constructors

Constructor and Description
FrameTarget(MotionTarget.TargetActivity explicitActivity)

Method Summary

Modifier and Type	Method and Description
AxisAngle	getTargetAxisAngle(FrameState state)
int	getTargetPos(double[] buf, double s, double h, FrameState state, int idx)
Point3d	getTargetPos(FrameState state)
void	getTargetPos(Vector3d post, Quaternion rott, double s, double h, FrameState state)
RigidTransform3d	getTargetPose(FrameState state)
Quaternion	getTargetRot(FrameState state)
int	getTargetVel(double[] buf, double s, double h, FrameState state, int idx)
Twist	getTargetVel(FrameState state)
void	getTargetVel(Twist velt, double s, double h, FrameState state)
int	setTargetPos(double[] buf, int idx)
void	setTargetPos(Vector3d pos)
void	setTargetRot(AxisAngle axisAng)
void	setTargetRot(Quaternion rot)
void	setTargetRot(RotationMatrix3d R)
int	setTargetVel(double[] buf, FrameState state, int idx)
void	setTargetVel(Twist vel)
void	syncState(MotionTarget.TargetActivity prev, FrameState state)

Methods inherited from class artisynth.core.mechmodels.MotionTarget

getActivity, isPositionActive, isVelocityActive, setActivity

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

FrameTarget

public FrameTarget(MotionTarget.TargetActivity explicitActivity)

Method Detail

setTargetPos

public void setTargetPos(Vector3d pos)

getTargetPos

public Point3d getTargetPos(FrameState state)

setTargetRot

public void setTargetRot(Quaternion rot)

setTargetRot

public void setTargetRot(AxisAngle axisAng)

setTargetRot

public void setTargetRot(RotationMatrix3d R)

getTargetRot

public Quaternion getTargetRot(FrameState state)

getTargetAxisAngle

public AxisAngle getTargetAxisAngle(FrameState state)

getTargetPose

public RigidTransform3d getTargetPose(FrameState state)

setTargetVel

public void setTargetVel(Twist vel)

getTargetVel

public Twist getTargetVel(FrameState state)

syncState

public void syncState(MotionTarget.TargetActivity prev,
                      FrameState state)

getTargetVel

public void getTargetVel(Twist velt,
                         double s,
                         double h,
                         FrameState state)

getTargetPos

public void getTargetPos(Vector3d post,
                         Quaternion rott,
                         double s,
                         double h,
                         FrameState state)

getTargetVel

public int getTargetVel(double[] buf,
                        double s,
                        double h,
                        FrameState state,
                        int idx)

setTargetVel

public int setTargetVel(double[] buf,
                        FrameState state,
                        int idx)

getTargetPos

public int getTargetPos(double[] buf,
                        double s,
                        double h,
                        FrameState state,
                        int idx)

setTargetPos

public int setTargetPos(double[] buf,
                        int idx)