Joint.Type

java.lang.Object
- java.lang.Enum<Joint.Type>
- - msim.model.Joint.Type

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<Joint.Type>

Enclosing class:

Joint
```
public static enum Joint.Type
extends java.lang.Enum<Joint.Type>
```
The set of available types of Joint.

The joint type determines the values of the invariants. Further info in the Linkage header doc.

Of the six lower kinematic pair types, all but helical are available. Several other types are also provided.

Enum Constant Summary

Enum Constants
Enum Constant and Description
`CARTESIAN2` a 2-DoF joint allowing x-y translation only
`CARTESIAN3` a 3-DoF joint allowing x-y-z translation only
`CYLINDRICAL` a 2-DoF joint allowing z twist and z translation only
`FIXED` a 0-DoF joint allowing no motion
`GENERAL` a 6-DoF joint allowing all rigid transforms
`PIN_SLIDER` a 2-DoF joint allowing z twist and x translation only
`PLANAR` a 3-DoF joint allowing z twist and x-y translation only
`POINT_PLANE` a 5-DoF joint allowing spatial rotation and x-y translation only
`POINT_SLIDER` a 4-DoF joint allowing spatial rotation and x translation only
`PRISMATIC` a 1-DoF joint allowing z translation only
`REVOLUTE` a 1-DoF joint allowing z twist only
`SPHERICAL` a 3-DoF joint allowing all and only spatial rotations

Field Summary

Fields
Modifier and Type	Field and Description
`int[]`	`dofIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`dofName` names of Degrees of Freedom and Degrees of Invariance
`int[]`	`doiIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`doiName` names of Degrees of Freedom and Degrees of Invariance
`double[]`	`invariant` For each parameter that is a DoI this gives the constrained value of that parameter.
`java.lang.String`	`mnemonic` Short and unique mnemonic string for this type, or null if none.
`vona.j3d.RouteWidget.RouteType`	`mobilityRouteType` The type of route to set when creating a `RouteWidget` to display the mobility transform, or null if none.
`int`	`numDoF` number of Degrees of Freedom and Degrees of Invariance
`int`	`numDoI` number of Degrees of Freedom and Degrees of Invariance
`int`	`numRotationDoF` number of Degrees of Freedom and Degrees of Invariance
`int`	`numRotationDoI` number of Degrees of Freedom and Degrees of Invariance
`int`	`numTranslationDoF` number of Degrees of Freedom and Degrees of Invariance
`int`	`numTranslationDoI` number of Degrees of Freedom and Degrees of Invariance
`double[]`	`packedInvariants` For each parameter that is a DoI this gives the constrained value of that parameter.
`int[]`	`rotationDoFIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`rotationDoFName` names of Degrees of Freedom and Degrees of Invariance
`int[]`	`rotationDoIIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`rotationDoIName` names of Degrees of Freedom and Degrees of Invariance
`int[]`	`translationDoFIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`translationDoFName` names of Degrees of Freedom and Degrees of Invariance
`int[]`	`translationDoIIndex` indices of Degrees of Freedom and Degrees of Invariance
`java.lang.String[]`	`translationDoIName` names of Degrees of Freedom and Degrees of Invariance

Method Summary

Methods
Modifier and Type	Method and Description
`static Joint.Type`	`valueOf(java.lang.String name)` Returns the enum constant of this type with the specified name.
`static Joint.Type[]`	`values()` Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum
clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

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

- Enum Constant Detail
  - REVOLUTE
```
public static final Joint.Type REVOLUTE
```
    a 1-DoF joint allowing z twist only
  - PRISMATIC
```
public static final Joint.Type PRISMATIC
```
    a 1-DoF joint allowing z translation only
  - CYLINDRICAL
```
public static final Joint.Type CYLINDRICAL
```
    a 2-DoF joint allowing z twist and z translation only
  - SPHERICAL
```
public static final Joint.Type SPHERICAL
```
    a 3-DoF joint allowing all and only spatial rotations
  - PLANAR
```
public static final Joint.Type PLANAR
```
    a 3-DoF joint allowing z twist and x-y translation only
  - CARTESIAN2
```
public static final Joint.Type CARTESIAN2
```
    a 2-DoF joint allowing x-y translation only
  - CARTESIAN3
```
public static final Joint.Type CARTESIAN3
```
    a 3-DoF joint allowing x-y-z translation only
  - PIN_SLIDER
```
public static final Joint.Type PIN_SLIDER
```
    a 2-DoF joint allowing z twist and x translation only
  - POINT_SLIDER
```
public static final Joint.Type POINT_SLIDER
```
    a 4-DoF joint allowing spatial rotation and x translation only
  - POINT_PLANE
```
public static final Joint.Type POINT_PLANE
```
    a 5-DoF joint allowing spatial rotation and x-y translation only
  - GENERAL
```
public static final Joint.Type GENERAL
```
    a 6-DoF joint allowing all rigid transforms
  - FIXED
```
public static final Joint.Type FIXED
```
    a 0-DoF joint allowing no motion
- Field Detail
  - numDoF
```
public final int numDoF
```
    number of Degrees of Freedom and Degrees of Invariance
  - numTranslationDoF
```
public final int numTranslationDoF
```
    number of Degrees of Freedom and Degrees of Invariance
  - numRotationDoF
```
public final int numRotationDoF
```
    number of Degrees of Freedom and Degrees of Invariance
  - numDoI
```
public final int numDoI
```
    number of Degrees of Freedom and Degrees of Invariance
  - numTranslationDoI
```
public final int numTranslationDoI
```
    number of Degrees of Freedom and Degrees of Invariance
  - numRotationDoI
```
public final int numRotationDoI
```
    number of Degrees of Freedom and Degrees of Invariance
  - dofIndex
```
public final int[] dofIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - translationDoFIndex
```
public final int[] translationDoFIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - rotationDoFIndex
```
public final int[] rotationDoFIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - doiIndex
```
public final int[] doiIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - translationDoIIndex
```
public final int[] translationDoIIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - rotationDoIIndex
```
public final int[] rotationDoIIndex
```
    indices of Degrees of Freedom and Degrees of Invariance
  - dofName
```
public final java.lang.String[] dofName
```
    names of Degrees of Freedom and Degrees of Invariance
  - translationDoFName
```
public final java.lang.String[] translationDoFName
```
    names of Degrees of Freedom and Degrees of Invariance
  - rotationDoFName
```
public final java.lang.String[] rotationDoFName
```
    names of Degrees of Freedom and Degrees of Invariance
  - doiName
```
public final java.lang.String[] doiName
```
    names of Degrees of Freedom and Degrees of Invariance
  - translationDoIName
```
public final java.lang.String[] translationDoIName
```
    names of Degrees of Freedom and Degrees of Invariance
  - rotationDoIName
```
public final java.lang.String[] rotationDoIName
```
    names of Degrees of Freedom and Degrees of Invariance
  - invariant
```
public final double[] invariant
```
    For each parameter that is a DoI this gives the constrained value of that parameter.
    
    invariant is NaN for DoF parameters, packedInvariants elides them entirely.
  - packedInvariants
```
public final double[] packedInvariants
```
    For each parameter that is a DoI this gives the constrained value of that parameter.
    
    invariant is NaN for DoF parameters, packedInvariants elides them entirely.
  - mobilityRouteType
```
public final vona.j3d.RouteWidget.RouteType mobilityRouteType
```
    The type of route to set when creating a RouteWidget to display the mobility transform, or null if none.
  - mnemonic
```
public final java.lang.String mnemonic
```
    Short and unique mnemonic string for this type, or null if none.
- Method Detail
  - values
```
public static Joint.Type[] values()
```
    Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:
```
for (Joint.Type c : Joint.Type.values())
    System.out.println(c);
```
    Returns:
    an array containing the constants of this enum type, in the order they are declared
  - valueOf
```
public static Joint.Type valueOf(java.lang.String name)
```
    Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)
    
    Parameters:
    name - the name of the enum constant to be returned.
    
    Returns:
    the enum constant with the specified name
    
    Throws:
    
    java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
    
    java.lang.NullPointerException - if the argument is null

Enum Joint.Type

Enum Constant Summary

Field Summary

Method Summary

Methods inherited from class java.lang.Enum

Methods inherited from class java.lang.Object

Enum Constant Detail

REVOLUTE

PRISMATIC

CYLINDRICAL

SPHERICAL

PLANAR

CARTESIAN2

CARTESIAN3

PIN_SLIDER

POINT_SLIDER

POINT_PLANE

GENERAL

FIXED

Field Detail

numDoF

numTranslationDoF

numRotationDoF

numDoI

numTranslationDoI

numRotationDoI

dofIndex

translationDoFIndex

rotationDoFIndex

doiIndex

translationDoIIndex

rotationDoIIndex

dofName

translationDoFName

rotationDoFName

doiName

translationDoIName

rotationDoIName

invariant

packedInvariants

mobilityRouteType

mnemonic

Method Detail

values

valueOf