artisynth.core.opensim.components

Class OpenSimObjectFactory<E extends OpenSimObject>

java.lang.Object

artisynth.core.opensim.components.OpenSimObjectFactory<E>

Type Parameters:

E - base class generated

Direct Known Subclasses:

ActiveForceLengthCurveFactory, AppearanceFactory, ConstantFactory, ConstraintBaseFactory, CoordinateFactory, CubicSplineBaseFactory, FiberForceLengthCurveFactory, ForceVelocityCurveFactory, HasAppearanceFactory, JointBaseFactory, JointFactory, LinearFunctionFactory, ListBaseFactory, ModelFactoryBase, MultiplierFunctionFactory, ObjectGroupFactory, OpenSimDocumentFactory, PathWrapFactory, PiecewiseLinearFunctionFactory, SetBaseFactory, SpatialTransformFactory, SurfacePropertiesFactory, TendonForceLengthCurveFactory, TransformAxisFactory, VisibleBaseFactory

public abstract class OpenSimObjectFactory<E extends OpenSimObject>
extends java.lang.Object

Factory class that can parse DOM elements to create OpenSimComponents

Method Summary

Modifier and Type	Method and Description
boolean	canParse(org.w3c.dom.Element elem) Checks if this factory can parse the given DOM element.
E	createDefault() Creates a default instance
E	parse(org.w3c.dom.Element elem) Tries to parse the provided element
static void	setOrientationXYZ(RotationMatrix3d R, double x, double y, double z) Set this rotations to represent a body-fixed rotation of X-Y-Z.
static void	setOrientationXYZ(RotationMatrix3d R, Point3d rot)

Methods inherited from class java.lang.Object

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

Method Detail

createDefault

public E createDefault()

Creates a default instance

Returns:

new instance

canParse

public boolean canParse(org.w3c.dom.Element elem)

Checks if this factory can parse the given DOM element. By default, assumes we can parse the element if the element's local name matches the component class name getComponentClass()

Parameters:

elem - DOM element

Returns:

true if a valid E can be parsed by this factory, false otherwise

parse

public E parse(org.w3c.dom.Element elem)

Tries to parse the provided element

Parameters:

elem - DOM element

Returns:

valid E if can be parsed by this factory, null otherwise

setOrientationXYZ

public static void setOrientationXYZ(RotationMatrix3d R,
                                     Point3d rot)

See Also:

setOrientationXYZ(RotationMatrix3d, double, double, double)

setOrientationXYZ

public static void setOrientationXYZ(RotationMatrix3d R,
                                     double x,
                                     double y,
                                     double z)

Set this rotations to represent a body-fixed rotation of X-Y-Z. first rotation is x about the body frame's X axis, followed by a rotation of y about the body frame's NEW Y axis, followed by a rotation of z about the body frame's NEW Z axis. See Kane, Spacecraft Dynamics, pg. 423, body-three: 1-2-3.

Parameters:

R - rotation matrix to populate

x - first angle (radians) rotation about body's x-axis

y - second angle (radians) rotation about body's new y-axis

z - third angle (radians) rotation about body's new y-axis