artisynth.core.mechmodels

Class FrameFrameAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.FrameAttachment

artisynth.core.mechmodels.FrameFrameAttachment

All Implemented Interfaces:

AttachingComponent, DynamicAttachment, DynamicAttachmentComp, CopyableComponent, ModelComponent, PostScannable, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class FrameFrameAttachment
extends FrameAttachment

Class to attach a frame to another frame.

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
boolean	debug

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
FrameFrameAttachment()
FrameFrameAttachment(Frame frame)
FrameFrameAttachment(Frame frame, Frame master)
FrameFrameAttachment(Frame frame, Frame master, RigidTransform3d TFM)

Method Summary

Modifier and Type	Method and Description
void	addMassToMasters()
void	applyForce(Wrench wr) Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.
void	applyForces()
FrameFrameAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
double	getAverageMasterInertia() Returns the average rotational inertia of the master components as seen by the attached frame.
double	getAverageMasterMass() Returns the average mass of the master components as seen by the attached frame.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
void	getCurrentTFW(RigidTransform3d TFW) Returns the current pose of the attached frame, in world coordinates.
void	getCurrentVel(Twist vel, Twist dg) Returns the current velocity of the attached frame, in frame coordinates.
boolean	getDerivative(double[] buf, int idx)
Frame	getMaster()
void	getMasterForces(VectorNd f, Wrench wr) Computes the master forces that result when a wr is applied in the attached coordinate frame.
RigidTransform3d	getTFM()
void	getUndeformedTFW(RigidTransform3d TFW) Returns the current undeformed pose of the attached frame, in world coordinates.
boolean	isDuplicatable() Returns true if this component can be duplicated.
boolean	isFlexible() Indicates that this attachment is flexible.
void	scaleDistance(double s) Scales all distance coordinates.
void	set(Frame frame, Frame master, RigidTransform3d TFM)
void	set(Frame master, RigidTransform3d TFW)
boolean	setCurrentTFW(RigidTransform3d TFW) Sets the current pose of the attached frame, in world coordinates.
void	setWithTFM(Frame master, RigidTransform3d TFM)
void	updateAttachment() Update attachment to reflect changes in the slave state.
void	updatePosStates()
void	updateVelStates()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.FrameAttachment

getFrame, getGT, getMasterBlocks, getMasters, getSlave, invalidateMasters, mulSubGT, mulSubGTM, mulSubMG, numMasters, scaleMass, transformGeometry

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, clone, connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getHardReferences, oneMasterActive, oneMasterNotAttached, removeBackRefs, removeBackRefs, removeConnectedMasterRefs, setSlaveAffectsStiffness, slaveAffectsStiffness

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, createTempFlag, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, 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, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

debug

public boolean debug

Constructor Detail

FrameFrameAttachment

public FrameFrameAttachment()

FrameFrameAttachment

public FrameFrameAttachment(Frame frame)

FrameFrameAttachment

public FrameFrameAttachment(Frame frame,
                            Frame master)

FrameFrameAttachment

public FrameFrameAttachment(Frame frame,
                            Frame master,
                            RigidTransform3d TFM)

Method Detail

isFlexible

public boolean isFlexible()

Description copied from class: FrameAttachment

Indicates that this attachment is flexible. That means that underlying body to which the frame is connected is deformable.

Specified by:

isFlexible in class FrameAttachment

Returns:

true if this attachment is flexible.

getMaster

public Frame getMaster()

getTFM

public RigidTransform3d getTFM()

set

public void set(Frame frame,
                Frame master,
                RigidTransform3d TFM)

set

public void set(Frame master,
                RigidTransform3d TFW)

setWithTFM

public void setWithTFM(Frame master,
                       RigidTransform3d TFM)

updatePosStates

public void updatePosStates()

Specified by:

updatePosStates in interface DynamicAttachment

Specified by:

updatePosStates in class DynamicAttachmentBase

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in interface DynamicAttachment

Specified by:

updateVelStates in class DynamicAttachmentBase

updateAttachment

public void updateAttachment()

Description copied from class: DynamicAttachmentBase

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in interface DynamicAttachment

Specified by:

updateAttachment in class DynamicAttachmentBase

setCurrentTFW

public boolean setCurrentTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Sets the current pose of the attached frame, in world coordinates. This will update the internal parameters of the attachment to be consistent with the current valued master coordinates.

Specified by:

setCurrentTFW in class FrameAttachment

Parameters:

TFW - new pose for the attached frame, in world coordinates

Returns:

true if the underlying master components have changed

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Overrides:

applyForces in class FrameAttachment

getDerivative

public boolean getDerivative(double[] buf,
                             int idx)

Specified by:

getDerivative in interface DynamicAttachment

Specified by:

getDerivative in class DynamicAttachmentBase

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

getCurrentTFW

public void getCurrentTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Returns the current pose of the attached frame, in world coordinates.

Specified by:

getCurrentTFW in class FrameAttachment

Parameters:

TFW - used to return current frame pose.

getUndeformedTFW

public void getUndeformedTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Returns the current undeformed pose of the attached frame, in world coordinates. If the underlying body to which the frame is attached is not flexible, then this method should return the same value as getCurrentTFW().

Specified by:

getUndeformedTFW in class FrameAttachment

Parameters:

TFW - used to return current undeformed frame pose.

See Also:

FrameAttachment.isFlexible()

getCurrentVel

public void getCurrentVel(Twist vel,
                          Twist dg)

Description copied from class: FrameAttachment

Returns the current velocity of the attached frame, in frame coordinates. Also optionally returns the velocity derivative term, defined by

 \dot J velm
 

where J is the matrix that maps master velocities to the attached frame velocity (in frame coordinates), and velm are the master velocities.

Specified by:

getCurrentVel in class FrameAttachment

Parameters:

vel - used to return current frame velocity

dg - if not null, returns the velocity derivative term

applyForce

public void applyForce(Wrench wr)

Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.

Specified by:

applyForce in class FrameAttachment

Parameters:

wr - force to apply to the frame

getMasterForces

public void getMasterForces(VectorNd f,
                            Wrench wr)

Computes the master forces that result when a wr is applied in the attached coordinate frame. The result vector f is auto-sized to the correct size. The first six elements of f contain the wrench applied to the master frame, rotated into world coordinates.

Parameters:

f - returns the master forces

wr - applied wrench (in attached frame coordinates)

getAverageMasterMass

public double getAverageMasterMass()

Returns the average mass of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

Specified by:

getAverageMasterMass in class FrameAttachment

getAverageMasterInertia

public double getAverageMasterInertia()

Returns the average rotational inertia of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

Specified by:

getAverageMasterInertia in class FrameAttachment

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Overrides:

writeItems in class FrameAttachment

Throws:

java.io.IOException

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Overrides:

isDuplicatable in class FrameAttachment

Returns:

true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Overrides:

getCopyReferences in class FrameAttachment

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Parameters:

s - scaling factor

copy

public FrameFrameAttachment copy(int flags,
                                 java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface DynamicAttachmentComp

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class FrameAttachment

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component