FreeJoint (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.BodyConnector
    - - artisynth.core.mechmodels.JointBase
      - artisynth.core.mechmodels.FreeJoint

All Implemented Interfaces:

Constrainer, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class FreeJoint
extends JointBase
```
Implements a six DOF coupling that allows complete motion in space, but with translational and rotational limits. The motion is parameterized by six coordinates in the form of three translations along and three intrinsic rotations about the X, Y, Z axes. The motion is constrained only if bounds are set on the coordinates.
The x, y, z, roll, pitch and yaw coordinates are available as properties which can be read and also, under appropriate circumstances, set. The angle properties are reported in degrees. Setting these values causes an adjustment in the positions of one or both bodies connected to this joint, along with adjacent bodies connected to them, with preference given to bodies that are not attached to ``ground''. If this is done during simulation, and particularly if one or both of the bodies connected to this joint are moving dynamically, the results will be unpredictable and will likely conflict with the simulation.

Nested Class Summary
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`
`static int`	`PITCH_IDX`
`static int`	`ROLL_IDX`
`static int`	`X_IDX`
`static int`	`Y_IDX`
`static int`	`YAW_IDX`
`static int`	`Z_IDX`

Fields inherited from class artisynth.core.mechmodels.JointBase
DEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUS

Fields inherited from class artisynth.core.mechmodels.BodyConnector
debug, useOldDerivativeMethod

Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry
TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable
TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors
Constructor and Description
`FreeJoint()` Creates a `FreeJoint` which is not attached to any bodies.
`FreeJoint(ConnectableBody bodyA, ConnectableBody bodyB, Point3d originD)` Creates a `FreeJoint` connecting two connectable bodies, `bodyA` and `bodyB`.
`FreeJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)` Creates a `FreeJoint` connecting two connectable bodies, `bodyA` and `bodyB`.
`FreeJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)` Creates a `FreeJoint` connecting two connectable bodies, `bodyA` and `bodyB`.
`FreeJoint(ConnectableBody bodyA, RigidTransform3d TDW)` Creates a `FreeJoint` connecting a single connectable body, `bodyA`, to ground.
`FreeJoint(GimbalJoint.AxisSet axes)`
`FreeJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)` Creates a `FreeJoint` connecting two rigid bodies, `bodyA` and `bodyB`.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`boolean`	`getApplyEuler()`
`GimbalJoint.AxisSet`	`getAxes()`
`double`	`getMaxPitch()` Queries the upper pitch range limit for this joint, in degrees.
`double`	`getMaxRoll()` Queries the upper roll range limit for this joint, in degrees.
`double`	`getMaxYaw()` Queries the upper yaw range limit for this joint, in degrees.
`double`	`getMinPitch()` Queries the lower pitch range limit for this joint, in degrees.
`double`	`getMinRoll()` Queries the lower roll range limit for this joint, in degrees.
`double`	`getMinYaw()` Queries the lower yaw range limit for this joint, in degrees.
`double`	`getPitch()` Queries this joint's pitch value, in degrees.
`DoubleInterval`	`getPitchRange()` Queries the pitch range limits for this joint, in degrees.
`double`	`getRoll()` Queries this joint's roll value, in degrees.
`DoubleInterval`	`getRollRange()` Queries the roll range limits for this joint, in degrees.
`Vector3d`	`getRpyRad()`
`double`	`getX()` Queries this joint's x value.
`DoubleInterval`	`getXRange()` Queries the x range limits for this joint.
`double`	`getY()` Queries this joint's y value.
`double`	`getYaw()` Queries this joint's yaw value, in degrees.
`DoubleInterval`	`getYawRange()` Queries the yaw range limits for this joint, in degrees.
`DoubleInterval`	`getYRange()` Queries the y range limits for this joint.
`double`	`getZ()` Queries this joint's z value.
`DoubleInterval`	`getZRange()` Queries the z range limits for this joint.
`boolean`	`isPitchLocked()` Queries whether the pitch coordinate for this joint is locked.
`boolean`	`isRollLocked()` Queries whether the roll coordinate for this joint is locked.
`boolean`	`isXLocked()` Queries whether the x coordinate for this joint is locked.
`boolean`	`isYawLocked()` Queries whether the yaw coordinate for this joint is locked.
`boolean`	`isYLocked()` Queries whether the y coordinate for this joint is locked.
`boolean`	`isZLocked()` Queries whether the z coordinate for this joint is locked.
`void`	`setApplyEuler(boolean apply)`
`void`	`setMaxPitch(double max)` Sets the upper pitch range limit for this joint, in degrees.
`void`	`setMaxRoll(double max)` Sets the upper roll range limit for this joint, in degrees.
`void`	`setMaxYaw(double max)` Sets the upper yaw range limit for this joint, in degrees.
`void`	`setMinPitch(double min)` Sets the lower pitch range limit for this joint, in degrees.
`void`	`setMinRoll(double min)` Sets the lower roll range limit for this joint, in degrees.
`void`	`setMinYaw(double min)` Sets the lower yaw range limit for this joint, in degrees.
`void`	`setPitch(double pitch)` Sets this joint's pitch value, in degrees.
`void`	`setPitchLocked(boolean locked)` Set whether the pitch coordinate for this joint is locked.
`void`	`setPitchRange(double min, double max)` Sets the pitch range limits for this joint, in degrees.
`void`	`setPitchRange(DoubleInterval range)` Sets the pitch range limits for this joint, in degrees.
`void`	`setRoll(double roll)` Sets this joint's roll value, in degrees.
`void`	`setRollLocked(boolean locked)` Set whether the roll coordinate for this joint is locked.
`void`	`setRollRange(double min, double max)` Sets the roll range limits for this joint, in degrees.
`void`	`setRollRange(DoubleInterval range)` Sets the roll range limits for this joint, in degrees.
`void`	`setRpyRad(Vector3d rpy)`
`void`	`setX(double x)` Sets this joint's x value.
`void`	`setXLocked(boolean locked)` Set whether the x coordinate for this joint is locked.
`void`	`setXRange(DoubleInterval range)` Sets the x range limits for this joint.
`void`	`setY(double y)` Sets this joint's y value.
`void`	`setYaw(double yaw)` Sets this joint's yaw value, in degrees.
`void`	`setYawLocked(boolean locked)` Set whether the yaw coordinate for this joint is locked.
`void`	`setYawRange(double min, double max)` Sets the yaw range limits for this joint, in degrees.
`void`	`setYawRange(DoubleInterval range)` Sets the yaw range limits for this joint, in degrees.
`void`	`setYLocked(boolean locked)` Set whether the y coordinate for this joint is locked.
`void`	`setYRange(DoubleInterval range)` Sets the y range limits for this joint.
`void`	`setZ(double z)` Sets this joint's z value.
`void`	`setZLocked(boolean locked)` Set whether the z coordinate for this joint is locked.
`void`	`setZRange(DoubleInterval range)` Sets the z range limits for this joint.

Methods inherited from class artisynth.core.mechmodels.BodyConnector
addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, copy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, prerender, printConnectedBodies, printConstraintInfo, render, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateBounds, updateConstraints, zeroForces

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, 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.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent
getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties
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
  - X_IDX
```
public static final int X_IDX
```
    See Also:
    
    Constant Field Values
  - Y_IDX
```
public static final int Y_IDX
```
    See Also:
    
    Constant Field Values
  - Z_IDX
```
public static final int Z_IDX
```
    See Also:
    
    Constant Field Values
  - ROLL_IDX
```
public static final int ROLL_IDX
```
    See Also:
    
    Constant Field Values
  - PITCH_IDX
```
public static final int PITCH_IDX
```
    See Also:
    
    Constant Field Values
  - YAW_IDX
```
public static final int YAW_IDX
```
    See Also:
    
    Constant Field Values
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - FreeJoint
```
public FreeJoint()
```
    Creates a FreeJoint which is not attached to any bodies. It can subsequently be connected using one of the setBodies methods.
  - FreeJoint
```
public FreeJoint(GimbalJoint.AxisSet axes)
```
  - FreeJoint
```
public FreeJoint(RigidBody bodyA,
                 RigidTransform3d TCA,
                 RigidBody bodyB,
                 RigidTransform3d TDB)
```
    Creates a FreeJoint connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of bodyA and bodyB, then TCA and TDB give the (fixed) transforms from the joint's C and D frames to A and B, respectively. Since C and D are specified independently, the joint transform TCD may not necessarily be initialized to the identity.
    Specifying bodyB as null will cause bodyA to be connected to ground, with TDB then being the same as TDW.
    
    Parameters:
    
    bodyA - rigid body A
    
    TCA - transform from joint frame C to body frame A
    
    bodyB - rigid body B (or null)
    
    TDB - transform from joint frame D to body frame B
  - FreeJoint
```
public FreeJoint(ConnectableBody bodyA,
                 ConnectableBody bodyB,
                 RigidTransform3d TCW,
                 RigidTransform3d TDW)
```
    Creates a FreeJoint connecting two connectable bodies, bodyA and bodyB. The joint frames C and D are located independently with respect to world coordinates by TCW and TDW.
    Specifying bodyB as null will cause bodyA to be connected to ground.
    
    Parameters:
    
    bodyA - body A
    
    bodyB - body B (or null)
    
    TCW - initial transform from joint frame C to world
    
    TDW - initial transform from joint frame D to world
  - FreeJoint
```
public FreeJoint(ConnectableBody bodyA,
                 ConnectableBody bodyB,
                 RigidTransform3d TDW)
```
    Creates a FreeJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.
    
    Parameters:
    
    bodyA - body A
    
    bodyB - body B
    
    TDW - initial transform from joint frames D and C to world
  - FreeJoint
```
public FreeJoint(ConnectableBody bodyA,
                 RigidTransform3d TDW)
```
    Creates a FreeJoint connecting a single connectable body, bodyA, to ground. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located by TDW, which gives the transform from D to world coordinates.
    
    Parameters:
    
    bodyA - body A
    
    TDW - initial transform from joint frames D and C to world
  - FreeJoint
```
public FreeJoint(ConnectableBody bodyA,
                 ConnectableBody bodyB,
                 Point3d originD)
```
    Creates a FreeJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, so that roll, pitch and yaw with have initial values of 0. D (and C) is located (with respect to world) so that its origin is at originD and its axes are aligned with the world.
    Specifying bodyB as null will cause bodyA to be connected to ground.
    
    Parameters:
    
    bodyA - body A
    
    bodyB - body B, or null if bodyA is connected to ground.
    
    originD - origin of frame D (world coordinates)
- Method Detail
  - getAllPropertyInfo
```
public PropertyList getAllPropertyInfo()
```
    Description copied from interface: HasProperties
    
    Returns a list giving static information about all properties exported by this object.
    
    Specified by:
    
    getAllPropertyInfo in interface HasProperties
    
    Overrides:
    
    getAllPropertyInfo in class JointBase
    
    Returns:
    
    static information for all exported properties
  - getAxes
```
public GimbalJoint.AxisSet getAxes()
```
  - getRpyRad
```
public Vector3d getRpyRad()
```
  - setRpyRad
```
public void setRpyRad(Vector3d rpy)
```
  - getX
```
public double getX()
```
    Queries this joint's x value. See setX(double) for more details.
    
    Returns:
    
    current x value
  - setX
```
public void setX(double x)
```
    Sets this joint's x value. This describes the translation of frame C along the x axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    x - new x value
  - getXRange
```
public DoubleInterval getXRange()
```
    Queries the x range limits for this joint. See setXRange(DoubleInterval) for more details.
    
    Returns:
    
    x range limits for this joint
  - setXRange
```
public void setXRange(DoubleInterval range)
```
    Sets the x range limits for this joint. The default range is [-inf, inf], which implies no limits. If x travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - x range limits for this joint
  - isXLocked
```
public boolean isXLocked()
```
    Queries whether the x coordinate for this joint is locked.
    
    Returns:
    
    true if x is locked
  - setXLocked
```
public void setXLocked(boolean locked)
```
    Set whether the x coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks x
  - getY
```
public double getY()
```
    Queries this joint's y value. See setY(double) for more details.
    
    Returns:
    
    current y value
  - setY
```
public void setY(double y)
```
    Sets this joint's y value. This describes the translation of frame C along the y axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    y - new y value
  - getYRange
```
public DoubleInterval getYRange()
```
    Queries the y range limits for this joint. See setYRange(DoubleInterval) for more details.
    
    Returns:
    
    y range limits for this joint
  - setYRange
```
public void setYRange(DoubleInterval range)
```
    Sets the y range limits for this joint. The default range is [-inf, inf], which implies no limits. If y travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - y range limits for this joint
  - isYLocked
```
public boolean isYLocked()
```
    Queries whether the y coordinate for this joint is locked.
    
    Returns:
    
    true if y is locked
  - setYLocked
```
public void setYLocked(boolean locked)
```
    Set whether the y coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks y
  - getZ
```
public double getZ()
```
    Queries this joint's z value. See setZ(double) for more details.
    
    Returns:
    
    current z value
  - setZ
```
public void setZ(double z)
```
    Sets this joint's z value. This describes the translation of frame C along the z axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    z - new z value
  - getZRange
```
public DoubleInterval getZRange()
```
    Queries the z range limits for this joint. See setZRange(DoubleInterval) for more details.
    
    Returns:
    
    z range limits for this joint
  - setZRange
```
public void setZRange(DoubleInterval range)
```
    Sets the z range limits for this joint. The default range is [-inf, inf], which implies no limits. If z travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - z range limits for this joint
  - isZLocked
```
public boolean isZLocked()
```
    Queries whether the z coordinate for this joint is locked.
    
    Returns:
    
    true if z is locked
  - setZLocked
```
public void setZLocked(boolean locked)
```
    Set whether the z coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks z
  - getRoll
```
public double getRoll()
```
    Queries this joint's roll value, in degrees. See setRoll(double) for more details.
    
    Returns:
    
    current roll value
  - setRoll
```
public void setRoll(double roll)
```
    Sets this joint's roll value, in degrees. This describes the initial counter-clockwise rotation of frame C about the z axis of frame D. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    roll - new roll value
  - getRollRange
```
public DoubleInterval getRollRange()
```
    Queries the roll range limits for this joint, in degrees. See setRollRange(DoubleInterval) for more details.
    
    Returns:
    
    roll range limits for this joint
  - getMinRoll
```
public double getMinRoll()
```
    Queries the lower roll range limit for this joint, in degrees.
    
    Returns:
    
    lower roll range limit
  - getMaxRoll
```
public double getMaxRoll()
```
    Queries the upper roll range limit for this joint, in degrees.
    
    Returns:
    
    upper roll range limit
  - setRollRange
```
public void setRollRange(DoubleInterval range)
```
    Sets the roll range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If roll travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - roll range limits for this joint
  - setRollRange
```
public void setRollRange(double min,
                         double max)
```
    Sets the roll range limits for this joint, in degrees. This is a convenience wrapper for setRollRange(DoubleInterval).
    
    Parameters:
    
    min - minimum roll value
    
    max - maximum roll value
  - setMaxRoll
```
public void setMaxRoll(double max)
```
    Sets the upper roll range limit for this joint, in degrees. Setting a value of inf removes the upper limit.
    
    Parameters:
    
    max - upper roll range limit
  - setMinRoll
```
public void setMinRoll(double min)
```
    Sets the lower roll range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.
    
    Parameters:
    
    min - lower roll range limit
  - isRollLocked
```
public boolean isRollLocked()
```
    Queries whether the roll coordinate for this joint is locked.
    
    Returns:
    
    true if roll is locked
  - setRollLocked
```
public void setRollLocked(boolean locked)
```
    Set whether the roll coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks roll
  - getPitch
```
public double getPitch()
```
    Queries this joint's pitch value, in degrees. See setPitch(double) for more details.
    
    Returns:
    
    current pitch value
  - setPitch
```
public void setPitch(double pitch)
```
    Sets this joint's pitch value, in degrees. This describes the counter-clockwise rotation of frame C about its y axis after the roll rotation. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    pitch - new pitch value
  - getPitchRange
```
public DoubleInterval getPitchRange()
```
    Queries the pitch range limits for this joint, in degrees. See setPitchRange(DoubleInterval) for more details.
    
    Returns:
    
    pitch range limits for this joint
  - getMinPitch
```
public double getMinPitch()
```
    Queries the lower pitch range limit for this joint, in degrees.
    
    Returns:
    
    lower pitch range limit
  - getMaxPitch
```
public double getMaxPitch()
```
    Queries the upper pitch range limit for this joint, in degrees.
    
    Returns:
    
    upper pitch range limit
  - setPitchRange
```
public void setPitchRange(DoubleInterval range)
```
    Sets the pitch range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If pitch travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - pitch range limits for this joint
  - setPitchRange
```
public void setPitchRange(double min,
                          double max)
```
    Sets the pitch range limits for this joint, in degrees. This is a convenience wrapper for setPitchRange(DoubleInterval).
    
    Parameters:
    
    min - minimum pitch value
    
    max - maximum pitch value
  - setMaxPitch
```
public void setMaxPitch(double max)
```
    Sets the upper pitch range limit for this joint, in degrees. Setting a value of inf removes the upper limit.
    
    Parameters:
    
    max - upper pitch range limit
  - setMinPitch
```
public void setMinPitch(double min)
```
    Sets the lower pitch range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.
    
    Parameters:
    
    min - lower pitch range limit
  - isPitchLocked
```
public boolean isPitchLocked()
```
    Queries whether the pitch coordinate for this joint is locked.
    
    Returns:
    
    true if pitch is locked
  - setPitchLocked
```
public void setPitchLocked(boolean locked)
```
    Set whether the pitch coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks pitch
  - getYaw
```
public double getYaw()
```
    Queries this joint's yaw value, in degrees. See setYaw(double) for more details.
    
    Returns:
    
    current yaw value
  - setYaw
```
public void setYaw(double yaw)
```
    Sets this joint's yaw value, in degrees. This describes the counter-clockwise rotation of frame C about its y axis after the roll rotation. See this class's Javadoc header for a discussion of what happens when this value is set.
    
    Parameters:
    
    yaw - new yaw value
  - getYawRange
```
public DoubleInterval getYawRange()
```
    Queries the yaw range limits for this joint, in degrees. See setYawRange(DoubleInterval) for more details.
    
    Returns:
    
    yaw range limits for this joint
  - getMinYaw
```
public double getMinYaw()
```
    Queries the lower yaw range limit for this joint, in degrees.
    
    Returns:
    
    lower yaw range limit
  - getMaxYaw
```
public double getMaxYaw()
```
    Queries the upper yaw range limit for this joint, in degrees.
    
    Returns:
    
    upper yaw range limit
  - setYawRange
```
public void setYawRange(DoubleInterval range)
```
    Sets the yaw range limits for this joint, in degrees. The default range is [-inf, inf], which implies no limits. If yaw travels beyond these limits during dynamic simulation, unilateral constraints will be activated to enforce them. Setting the lower limit to -inf or the upper limit to inf removes the lower or upper limit, respectively. Specifying range as null will set the range to (-inf, inf).
    
    Parameters:
    
    range - yaw range limits for this joint
  - setYawRange
```
public void setYawRange(double min,
                        double max)
```
    Sets the yaw range limits for this joint, in degrees. This is a convenience wrapper for setYawRange(DoubleInterval).
    
    Parameters:
    
    min - minimum yaw value
    
    max - maximum yaw value
  - setMaxYaw
```
public void setMaxYaw(double max)
```
    Sets the upper yaw range limit for this joint, in degrees. Setting a value of inf removes the upper limit.
    
    Parameters:
    
    max - upper yaw range limit
  - setMinYaw
```
public void setMinYaw(double min)
```
    Sets the lower yaw range limit for this joint, in degrees. Setting a value of -inf removes the lower limit.
    
    Parameters:
    
    min - lower yaw range limit
  - isYawLocked
```
public boolean isYawLocked()
```
    Queries whether the yaw coordinate for this joint is locked.
    
    Returns:
    
    true if yaw is locked
  - setYawLocked
```
public void setYawLocked(boolean locked)
```
    Set whether the yaw coordinate for this joint is locked.
    
    Parameters:
    
    locked - if true, locks yaw
  - setApplyEuler
```
public void setApplyEuler(boolean apply)
```
  - getApplyEuler
```
public boolean getApplyEuler()
```

Class FreeJoint

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.JointBase

Fields inherited from class artisynth.core.mechmodels.BodyConnector

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.JointBase

Methods inherited from class artisynth.core.mechmodels.BodyConnector

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Field Detail

X_IDX

Y_IDX

Z_IDX

ROLL_IDX

PITCH_IDX

YAW_IDX

myProps

Constructor Detail

FreeJoint

FreeJoint

FreeJoint

FreeJoint

FreeJoint

FreeJoint

FreeJoint

Method Detail

getAllPropertyInfo

getAxes

getRpyRad

setRpyRad

getX

setX

getXRange

setXRange

isXLocked

setXLocked

getY

setY

getYRange

setYRange

isYLocked

setYLocked

getZ

setZ

getZRange

setZRange

isZLocked

setZLocked

getRoll

setRoll

getRollRange

getMinRoll

getMaxRoll

setRollRange

setRollRange

setMaxRoll

setMinRoll

isRollLocked

setRollLocked

getPitch

setPitch

getPitchRange

getMinPitch

getMaxPitch

setPitchRange

setPitchRange

setMaxPitch