public class SphericalJointForceBound extends QPConstraintTermBase
QPTerm.TypeModelComponent.NavpanelVisibilityDEFAULT_ENABLED, DEFAULT_WEIGHT, myPropsenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames| Constructor and Description |
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SphericalJointForceBound() |
SphericalJointForceBound(SphericalJointBase sjoint,
double weight) |
SphericalJointForceBound(SphericalJointBase sjoint,
double weight,
Frame f) |
| Modifier and Type | Method and Description |
|---|---|
void |
addHalfspaceBound(Vector3d n)
Add a half-space bound to the spherical joint
This vector is specified relative to a global coordinate frame
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java.util.ArrayList<Vector3d> |
getBoundNormals()
Returns a list of all the vectors forming the spherical
joint force bound, in global coordinates.
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Frame |
getFrame()
Returns the frame used by the spherical joint force bound
This frame should not be directly modified as it is used to
track the movement of the body that the joint is attached to.
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MatrixNd |
getMatrixOfBoundNormals() |
int |
getTerm(MatrixNd A,
VectorNd b,
int rowoff,
double t0,
double t1)
Appends the constraints for this term to the constraint matrix A and
offset vector b.
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int |
numConstraints(int qpsize)
Returns the number of constraints associated with this term.
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getTypegetAllPropertyInfo, getController, getProperty, getWeight, isEnabled, isInternal, setEnabled, setInternal, setWeightcheckFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, writeequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitgetController, getWeight, isEnabled, setWeightconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetAllPropertyInfo, getPropertygetChildren, hasChildrenpostscanisWritable, writepublic SphericalJointForceBound()
public SphericalJointForceBound(SphericalJointBase sjoint, double weight)
public SphericalJointForceBound(SphericalJointBase sjoint, double weight, Frame f)
public int numConstraints(int qpsize)
QPConstraintTermqpsize - size of the quadratic program. For the tracking
controller, this is the number of excitation values being used,public int getTerm(MatrixNd A, VectorNd b, int rowoff, double t0, double t1)
QPConstraintTermA x >= bwhile for equality constraints, they define the constraints
A x = b.
A - quadratic program constraint matrixb - quadratic program offset vectorrowoff - row offset within A and b where the constraints should be
addedt0 - time at start of stept1 - time at end of steppublic void addHalfspaceBound(Vector3d n)
n - vector specifying the half-space boundpublic java.util.ArrayList<Vector3d> getBoundNormals()
public MatrixNd getMatrixOfBoundNormals()
public Frame getFrame()