JointCoordinateHandle (Artisynth API documentation)

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

```
public class JointCoordinateHandle
extends java.lang.Object
```
Handle for accessing values and operations specific to a joint coordinate. Its methods map onto corresponding JointBase methods involving a specific coordinate index.

Constructor Summary

Constructors
Constructor and Description
`JointCoordinateHandle()` No-args constructor needed for scan/write.
`JointCoordinateHandle(JointBase joint, int idx)` Creates a handle for a specific coordinate.
`JointCoordinateHandle(JointCoordinateHandle ch)` Creates a copy of a handle for a specfic coordinate.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addForceJacobian(SparseNumberedBlockMatrix M, double s)` Used internally to add a term to the system solve matrix corresponding to the coordinate's generalized force.
`void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Used internally to add blocks to a system solve matrix that are associated with the coordinate's generalized force.
`void`	`applyForce(double f)` Applies a generalized force to the coordinate.
`double`	`clipToRange(double value)` Clips the specified coordinate value to its range.
`double`	`clipToRangeDeg(double value)` Clips the specified coordinate value to its range.
`boolean`	`equals(JointCoordinateHandle jch)` Checks if this coordinate handle equals another.
`boolean`	`equals(java.lang.Object obj)`
`double`	`getCompliance()` Queries the range limit compliance for this coordinate.
`int`	`getIndex()` Queries the index of the coordinate with respect to its joint.
`JointBase`	`getJoint()` Queries the joint associated with the coordinate.
`int`	`getLimitEngagement()` Queries the limit engagement status for the coordinate.
`double`	`getLockedValue()` Queries the locked value for this coordinate.
`RigidBodyConstraint.MotionType`	`getMotionType()` Queries the motion type for the coordinate.
`java.lang.String`	`getName()` Returns the name of the coordinate, or `null` if the coordinate is unnamed.
`double`	`getRangeViolation()` Returns the amount by which the current coordinate's value exceeds its range, or 0 if the coordinate is within range.
`double`	`getRangeViolationDeg()` Returns the amount by which the current coordinate's value exceeds its range, or 0 if the coordinate is within range.
`double`	`getSpeed()` Queries the current speed of the coordinate.
`double`	`getSpeedDeg()` Queries the current speed of the coordinate, converting the value for rotational coordinates to degrees/sec.
`double`	`getStoredValue()` Queries the current stored value of the coordinate (with no attempt to recompute it).
`double`	`getStoredValueDeg()` Queries the current stored value of the coordinate (with no attempt to recompute it) and converts the value of rotational coordinates to degrees.
`double`	`getValue()` Queries the current value of the coordinate, recomputing it if necessary.
`double`	`getValueDeg()` Queries the current value of the coordinate, recomputing it if necessary, and converting the value of rotational coordinates to degrees.
`DoubleInterval`	`getValueRange()` Queries the range for the coordinate.
`DoubleInterval`	`getValueRangeDeg()` Queries the range for the coordinate, converting the values to degrees for rotational coordinates.
`Wrench`	`getWrench()` Returns the wrench used to apply the generalized force associated with this coordinate.
`int`	`hashCode()`
`boolean`	`isLocked()` Queries whether or not the coordinate is locked.
`void`	`postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)`
`void`	`scan(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)`
`void`	`set(JointCoordinateHandle ch)` Sets this coordinate handle from another.
`void`	`setCompliance(double c)` Sets the range limit compliance for this coordinate.
`void`	`setLocked(boolean locked)` Sets whether the coordinate is locked, meaning that it will hold its current value.
`void`	`setLockedValue(double value)` Sets the locked value for this coordinate.
`void`	`setValue(double value)` Sets the value of the coordinate.
`void`	`setValueDeg(double value)` Sets the value of the coordinate, converting the value for rotational coordinates to degrees.
`void`	`setValueRange(DoubleInterval range)` Sets the range for the coordinate.
`void`	`setValueRangeDeg(DoubleInterval range)` Sets the range for the coordinate, converting the values from degrees for rotational coordinates.
`void`	`write(java.io.PrintWriter pw, CompositeComponent ancestor)`

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

- Constructor Detail
  - JointCoordinateHandle
```
public JointCoordinateHandle()
```
    No-args constructor needed for scan/write.
  - JointCoordinateHandle
```
public JointCoordinateHandle(JointBase joint,
                             int idx)
```
    Creates a handle for a specific coordinate.
    
    Parameters:
    
    joint - joint containing the coordinate
    
    idx - index of the coordinate within the joint
  - JointCoordinateHandle
```
public JointCoordinateHandle(JointCoordinateHandle ch)
```
    Creates a copy of a handle for a specfic coordinate.
    
    Parameters:
    
    ch - coordinate handle to be copied
- Method Detail
  - set
```
public void set(JointCoordinateHandle ch)
```
    Sets this coordinate handle from another.
    
    Parameters:
    
    ch - handle to be copied
  - getJoint
```
public JointBase getJoint()
```
    Queries the joint associated with the coordinate.
    
    Returns:
    
    coordinate's jpint
  - getIndex
```
public int getIndex()
```
    Queries the index of the coordinate with respect to its joint.
    
    Returns:
    
    coordinate index
  - getName
```
public java.lang.String getName()
```
    Returns the name of the coordinate, or null if the coordinate is unnamed.
    
    Returns:
    
    name of the coordinate or null.
  - getValue
```
public double getValue()
```
    Queries the current value of the coordinate, recomputing it if necessary. This is equivalent to calling joint.getCoordinate(idx).
    
    Returns:
    
    coordinate value
  - getValueDeg
```
public double getValueDeg()
```
    Queries the current value of the coordinate, recomputing it if necessary, and converting the value of rotational coordinates to degrees.
    
    Returns:
    
    coordinate value (in degrees for rotational coordinates)
  - setValue
```
public void setValue(double value)
```
    Sets the value of the coordinate. This is equivalent to calling joint.setCoordinate(idx,value).
    
    Parameters:
    
    value - new coordinate value
  - setValueDeg
```
public void setValueDeg(double value)
```
    Sets the value of the coordinate, converting the value for rotational coordinates to degrees. This is equivalent to calling joint.setCoordinateDeg(idx,value).
    
    Parameters:
    
    value - new coordinate value (in degrees for rotational coordinates)
  - getStoredValue
```
public double getStoredValue()
```
    Queries the current stored value of the coordinate (with no attempt to recompute it). This is equivalent to calling joint.getCoordinateValue(idx).
    
    Returns:
    
    stored coordinate value.
  - getStoredValueDeg
```
public double getStoredValueDeg()
```
    Queries the current stored value of the coordinate (with no attempt to recompute it) and converts the value of rotational coordinates to degrees.
    
    Returns:
    
    stored coordinate value (in degrees for rotational coordinates)
  - getValueRange
```
public DoubleInterval getValueRange()
```
    Queries the range for the coordinate. This is equivalent to calling joint.getCoordinateRange(idx).
    
    Returns:
    
    coordinate range
  - setValueRange
```
public void setValueRange(DoubleInterval range)
```
    Sets the range for the coordinate. This is equivalent to calling joint.setCoordinateRange(idx,range).
    
    Parameters:
    
    range - new coordinate range
  - getValueRangeDeg
```
public DoubleInterval getValueRangeDeg()
```
    Queries the range for the coordinate, converting the values to degrees for rotational coordinates. This is equivalent to calling joint.getCoordinateRangeDeg(idx).
    
    Returns:
    
    coordinate range (in degrees for rotational coordinates)
  - setValueRangeDeg
```
public void setValueRangeDeg(DoubleInterval range)
```
    Sets the range for the coordinate, converting the values from degrees for rotational coordinates. This is equivalent to calling joint.setCoordinateRangeDeg(idx,range).
    
    Parameters:
    
    range - new coordinate range
  - clipToRange
```
public double clipToRange(double value)
```
    Clips the specified coordinate value to its range.
    
    Parameters:
    
    value - coordinate value
    
    Returns:
    
    value clipped to its range
  - clipToRangeDeg
```
public double clipToRangeDeg(double value)
```
    Clips the specified coordinate value to its range. For rotational coordinates, the value is given in degrees.
    
    Parameters:
    
    value - coordinate value
    
    Returns:
    
    value clipped to its range
  - getRangeViolation
```
public double getRangeViolation()
```
    Returns the amount by which the current coordinate's value exceeds its range, or 0 if the coordinate is within range. For rotary joints, values are returned in radians.
    
    Returns:
    
    current range violation, or 0 if within range
  - getRangeViolationDeg
```
public double getRangeViolationDeg()
```
    Returns the amount by which the current coordinate's value exceeds its range, or 0 if the coordinate is within range. For rotary joints, values are returned in degrees.
    
    Returns:
    
    current range violation, or 0 if within range
  - getSpeed
```
public double getSpeed()
```
    Queries the current speed of the coordinate. This is equivalent to calling joint.getCoordinateSpeed(idx).
    
    Returns:
    
    coordinate's speed
  - getSpeedDeg
```
public double getSpeedDeg()
```
    Queries the current speed of the coordinate, converting the value for rotational coordinates to degrees/sec.
    
    Returns:
    
    coordinate's speed (in degrees/sec for rotational coordinates)
  - getLimitEngagement
```
public int getLimitEngagement()
```
    Queries the limit engagement status for the coordinate.
    
    Returns:
    
    coordinate's limit engagement
  - applyForce
```
public void applyForce(double f)
```
    Applies a generalized force to the coordinate. This is equivalent to calling joint.applyCoordinateForce(idx,f).
    
    Parameters:
    
    f - coordinate force to apply
  - addSolveBlocks
```
public void addSolveBlocks(SparseNumberedBlockMatrix M)
```
    Used internally to add blocks to a system solve matrix that are associated with the coordinate's generalized force.
    
    Parameters:
    
    M - system solve matrix
  - addForceJacobian
```
public void addForceJacobian(SparseNumberedBlockMatrix M,
                             double s)
```
    Used internally to add a term to the system solve matrix corresponding to the coordinate's generalized force.
    
    Parameters:
    
    M - system solve matrix
    
    s - force scale factor
  - getMotionType
```
public RigidBodyConstraint.MotionType getMotionType()
```
    Queries the motion type for the coordinate.
    
    Returns:
    
    coordinate motion type
  - isLocked
```
public boolean isLocked()
```
    Queries whether or not the coordinate is locked.
    
    Returns:
    
    true if the coordinate is locked
  - setLocked
```
public void setLocked(boolean locked)
```
    Sets whether the coordinate is locked, meaning that it will hold its current value. This is equivalent to calling joint.setCoordinateLocked(idx,locked).
    
    Parameters:
    
    locked - if true, locks the coordinate
  - getLockedValue
```
public double getLockedValue()
```
    Queries the locked value for this coordinate. This is the value that the coordinate is set at if it is locked.
    
    Returns:
    
    coordinate's locked value.
  - setLockedValue
```
public void setLockedValue(double value)
```
    Sets the locked value for this coordinate. By default, the locked value is set to the coordinate's current value when it is locked, but in some special cases, it may be desirable to change this afterwards.
    
    Parameters:
    
    value - new locked value for the coordinate
  - getCompliance
```
public double getCompliance()
```
    Queries the range limit compliance for this coordinate.
    
    Returns:
    
    coordinate's range limit compliance
  - setCompliance
```
public void setCompliance(double c)
```
    Sets the range limit compliance for this coordinate.
    
    Parameters:
    
    c - new range limit compliance
  - getWrench
```
public Wrench getWrench()
```
    Returns the wrench used to apply the generalized force associated with this coordinate. The wrench is represented in the joint's G frame.
    
    Returns:
    
    coordinate force wrench, in the joints's G frame.
  - write
```
public void write(java.io.PrintWriter pw,
                  CompositeComponent ancestor)
           throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.util.Deque<ScanToken> tokens)
          throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - postscan
```
public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - equals
```
public boolean equals(JointCoordinateHandle jch)
```
    Checks if this coordinate handle equals another. Handles are equal if they refer to the same joint and the same coordinate index.
  - equals
```
public boolean equals(java.lang.Object obj)
```
    Overrides:
    
    equals in class java.lang.Object
  - hashCode
```
public int hashCode()
```
    Overrides:
    
    hashCode in class java.lang.Object

Class JointCoordinateHandle

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

JointCoordinateHandle

JointCoordinateHandle

JointCoordinateHandle

Method Detail

set

getJoint

getIndex

getName

getValue

getValueDeg

setValue

setValueDeg

getStoredValue

getStoredValueDeg

getValueRange

setValueRange

getValueRangeDeg

setValueRangeDeg

clipToRange

clipToRangeDeg

getRangeViolation

getRangeViolationDeg

getSpeed

getSpeedDeg

getLimitEngagement

applyForce

addSolveBlocks

addForceJacobian

getMotionType

isLocked

setLocked

getLockedValue

setLockedValue

getCompliance

setCompliance

getWrench

write

scan

postscan

equals

equals

hashCode