msim.model

Class RootJoint

java.lang.Object

msim.model.LinkageNode

msim.model.Joint

msim.model.RootJoint

All Implemented Interfaces:

java.lang.Comparable<LinkageNode>

public class RootJoint
extends Joint

Special Joint that always connects to the ground Link.

See additional description in header doc for Linkage.

Copyright (C) 2008 Marsette A. Vona, III

Author:

Marsette A. Vona, III

Nested Class Summary

Nested classes/interfaces inherited from class msim.model.Joint

Joint.ResidualType, Joint.SliderSegmentWidget, Joint.Type

Nested classes/interfaces inherited from class msim.model.LinkageNode

LinkageNode.ApplyingNodeHandler, LinkageNode.NodeHandler, LinkageNode.SubFrame

Field Summary

Fields

Modifier and Type	Field and Description
private static java.lang.String	cvsid
static java.lang.String	SF_LINK_COM Subframes representing the position of our child's CoM and subtree CoM in our parent's link frame.
static java.lang.String	SF_SUBTREE_COM Subframes representing the position of our child's CoM and subtree CoM in our parent's link frame.

Fields inherited from class msim.model.Joint

ALL_TXEM_INDICES, AXES_RADIUS_FACTOR, branchLink, BROKEN_TOL, childLink, childLinks, childMobilityCMT, childMobilityCMTDirty, childMobilityCMTQuaternion, childMobilityCMTQuaternionDirty, childMobilityCMTRotMatrix, childMobilityCMTRotMatrixDirty, childSubFrame, childToMobilityRX, CLOSURE_ROUTE_COLOR_SCHEME, CONE_HEIGHT_FACTOR, CONE_RADIUS_FACTOR, CYLINDER_HEIGHT_FACTOR, DEGENERATE_ROUTE_TANGENT_FACTOR, DEGENERATE_ROUTE_TOL, FMT, FMT_S, FMT_WIDTH, FMT3, FMT3_S, FMT4, FMT4_S, FMT6, FMT6_S, G_LIMIT, invariantRX, jacobianDoFStartRow, jacobianDoIStartRow, jacobianLimitStartRow, jacobianStartColumn, JOINT_SUBFRAMES, jointRX, JW_AXES, JW_COLOR_SCHEME, JW_LABEL, JW_MOBILITY_SLIDER, JW_MOBILITY_SURFACE, JW_ROUTE, JW_ROUTE_CONE, JW_SLIDER_SURFACE, lastSupportIndexBeforeBranch, limit, LIMIT_PENALTY_DEGREE, LIMITED_EDGE_PATTERN, LIMITED_EDGE_WIDTH, limitSet, locked, lockRX, LOWER, MOBILITY_ERROR_ROUTE_COLOR, mobilitydEMdQ, mobilitydEMdQDirty, mobilitydQdEM, mobilitydQdEMDirty, mobilitydRdEM, mobilitydRdEMDirty, mobilitydRdQ, mobilitydRdQDirty, mobilityInverted, mobilityQuaternion, mobilityQuaternionDirty, mobilityRotMatrix, mobilityRotMatrixDirty, mobilityRX, mobilityRXClamped, mobilityRXClampedInverse, mobilityRXClampedInverseDirty, mobilityRXInverse, mobilityRXInverseDirty, mobilityToParentRX, NUM_CHAIN_SUBTRANSFORMS, NUM_CONE_SECTORS, NUM_GOAL_SUBTRANSFORMS, NUM_HARD_GOAL_SUBTRANSFORMS, NUM_RESIDUAL_TYPES, NUM_ROUTE_SEGMENTS, NUM_SOFT_GOAL_SUBTRANSFORMS, NUM_SUBTRANSFORMS, NUM_TYPES, parentLink, parentMobilityCMT, parentMobilityCMTDirty, parentMobilityCMTQuaternion, parentMobilityCMTQuaternionDirty, parentMobilityCMTRotMatrix, parentMobilityCMTRotMatrixDirty, parentSubFrame, PG_GRAVITY, PG_POTENTIAL, PG_STIFFNESS, PLANAR_RECTANGLE_ALPHA, positioningTransformsLocked, postureRX, potentialEnabled, RESIDUAL_TYPES, REVOLUTE_SECTOR_ALPHA, rotationDoFLimited, ROUTE_LINE_WIDTH, ROUTE_TANGENT_FACTOR, RX_CHILD_TO_MOBILITY, RX_INVARIANT, RX_LOCK, RX_MOBILITY, RX_MOBILITY_TO_PARENT, RX_POSTURE, RX_TARGET, SECTOR_MARGIN, SECTOR_OFFSET_FACTOR, SECTOR_WIDTH_FACTOR, SEGMENT_LENGTH_FACTOR, SEGMENT_OFFSET_FACTOR, setGoalComponents, setLimitComponents, setRotationGoalComponents, setRotationLimitComponents, setTranslationGoalComponents, setTranslationLimitComponents, SF_CHILD, SF_CHILD_MOBILITY, SF_MOBILITY_FROM, SF_MOBILITY_TO, SF_PARENT, SF_PARENT_MOBILITY, singleMobilityDoF, singleMobilityDoFDirty, SLIDER_EDGE_WIDTH, SLIDER_PRISM_ALPHA, softGoalPriority, softGoalSolveLevel, softGoalWeight, solver, stiffness, stiffnessRest, SUB_RX_NAME, subRX, support, targetRX, tempRX, tempV3, tempV3D, translationDoFLimited, TREE_ROUTE_COLOR_SCHEME, type, TYPES, UNLIMITED_EDGE_PATTERN, UNLIMITED_EDGE_WIDTH, unmodifiableChildLinks, unsetGoalComponents, unsetLimitComponents, UPPER, WIDGET_MARGIN, WIDGET_NUM_SECTORS, WIDGET_RADIUS_FACTOR, WIDGET_WIDTH_FACTOR, WN_C_TO_M_ROUTE, WN_CHILD_MOBILITY_AXES, WN_JOINT_CIRCLE, WN_JOINT_CYLINDER, WN_JOINT_LABEL, WN_JOINT_PRISM, WN_JOINT_PRISM_ENDS, WN_JOINT_RECTANGLE, WN_JOINT_RECTANGLE_Y_EDGES, WN_JOINT_SECTOR, WN_JOINT_SECTOR_ENDS, WN_JOINT_SEGMENT, WN_JOINT_SPHERE, WN_JOINT_SQUARE, WN_M_TO_P_ROUTE, WN_MOBILITY_ROUTE, WN_PARENT_MOBILITY_AXES, WN_ROUTE_CONE_SUFFIX, WP_JOINT, WP_ROUTE

Fields inherited from class msim.model.LinkageNode

autoNamed, cmt, DEF_WIDGET_LENGTH, depth, entityClass, explicitlyHidden, explicitlyHighlighted, explicitlyMasked, explicitlyVisible, linkage, name, nextAnonymousWidgetNumber, nodeWidgets, numUserWidgets, propertyMap, SF_CANONICAL, TM_JOINT_TYPE_START, TM_NUM_CLOSURE_JOINTS, TM_NUM_CONSTRAINED_CLOSURE_JOINTS, TM_NUM_DANGLING_JOINTS, TM_NUM_JOINT_WIDGETS, TM_NUM_JOINTS, TM_NUM_LINK_WIDGETS, TM_NUM_LINKAGES, TM_NUM_LINKS, TM_NUM_LOCKED_LINKS, TM_NUM_NODES, TM_NUM_SUPPORTING_TREE_JOINTS, TM_NUM_TREE_JOINTS, TM_NUM_UNCONSTRAINED_CLOSURE_JOINTS, TM_NUM_UNLOCKED_TREE_JOINTS, TM_NUM_WIDGETS, TM_SIZE, unmodifiableWidgets, widgetLength, widgetMap, widgets, widgetsDirty, WP_CACHED_SUBFRAME, WP_EXPLICIT_HIDDEN, WP_EXPLICIT_HIGHLIGHT, WP_EXPLICIT_MASK, WP_EXPLICIT_VISIBLE, WP_FRAME, WP_NAME, WP_NODE, WP_USER_SUBFRAME

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	RootJoint(Linkage linkage, Link link) Makes a new RootJoint attaching link to the Linkage.groundLink of linkage.

Method Summary

Methods

Modifier and Type	Method and Description
java.lang.String	checkType(Joint.Type type) Check if type is a valid type for this joint in its current connected configuration.
double	getGravityPotential(vona.math.RX mobilityRX) Impl of Joint.getGravityPotential().
vona.math.RX	getSubFrameRX(java.lang.String frame, vona.math.RX rx, boolean clamped) Extends superclass impl to handle SF_LINK_COM and SF_SUBTREE_COM.
boolean	hasGravity() Check if this Joint has gravity.
boolean	hasStiffness() RootJoints never have stiffness.
Joint	invert() RootJoints cannot be inverted.
Joint	makeClosureJoint() RootJoints are automatically made closure joints as necessary.
static java.lang.String	makeRootJointName(java.lang.String name) make the RootJoint name for Link name
Joint	makeTreeJoint() Chains to Link.makeRootLink() on Joint.childLink.
Link	merge(boolean reparentUserJointWidgets, boolean reparentUserLinkWidgets) RootJoints cannot be merged.
boolean	positioningTransformsMutable() Positioning transforms are not mutable on RootJoints.
void	remove() RootJoints are automatically removed when the corresponding Link is removed.
Link	setChildLink(Link link) setChildLink(Link, boolean), holds absolute pose.
Link	setChildLink(Link link, boolean holdAbsolutePose) RootJoints are automatically attached to their associated Link.
void	setChildToMobilityRX(Link child) see setChildToMobilityRX(RX)
void	setChildToMobilityRX(vona.math.RX rx) For a RootJoint, Joint.jointRX is always equal to Joint.mobilityRX.
protected boolean	setLimits(int component, int offset, java.lang.String name, double min, double max) RootJoint limits are immutable.
Joint	setMobilityToGravityRest() Set the mobility DoF to zero gravitational potential energy stored in this joint.
void	setMobilityToParentRX(Link parent) see setMobilityToParentRX(RX)
void	setMobilityToParentRX(vona.math.RX rx) For a RootJoint, Joint.jointRX is always equal to Joint.mobilityRX.
java.lang.String	setName(java.lang.String name) RootJoints are always auto-named.
Link	setParentLink(Link link) setParentLink(Link, boolean), holds absolute pose.
Link	setParentLink(Link link, boolean holdAbsolutePose) RootJoints are always connected to the Linkage.groundLink.
Joint	setPositioningTransformsLocked(boolean lock) Positioning transforms cannot be unlocked on RootJoints.
Joint	setPosture(vona.math.RX rx) RootJoints can have targets but not postures.
Joint.Type	setType(Joint.Type type) RootJoints are always Joint.Type.GENERAL.
protected boolean	suppressTreeDump() Whether to suppress this node in LinkageNode.dumpTree(String, PrintStream), default false.

Methods inherited from class msim.model.Joint

addAxesWidget, addCircleWidget, addCylinderWidget, addPrismWidgets, addRectangleWidgets, addRouteWidgets, addSectorWidgets, addSegmentWidget, addSphereWidget, addSquareWidget, checkName, clampDoFToLimits, clampToLimits, detachChildLink, detachParentLink, disablePotential, dump, dumpSolverInfo, dumpSolverInfo, dumpState, dumpState, dumpSubFrames, dumpSubJacobian, dumpSubJacobian, dumpSubRXState, dumpSubRXState, dumpSupport, dumpSupport, dumpTree, enablePotential, getAllDoFLimits, getAllRotationLimits, getAllTranslationLimits, getAttachmentName, getBranchLink, getChild, getChildLink, getChildMobilityCMTQuaternionRef, getChildMobilityCMTRef, getChildMobilityCMTRotMatrixRef, getChildName, getChildren, getChildSubFrame, getChildTOMobility, getChildToMobilityRX, getDoF, getDoF, getDoF, getDoF, getDoF, getDoF, getDoFIndices, getDoFIndices, getDoFIndices, getDoFIndicesRef, getDoFLimits, getDoFLimits, getDoFLimits, getDoFNames, getDoFNames, getDoFNames, getDoIIndices, getDoIIndices, getDoIIndices, getDoIIndicesRef, getDoINames, getDoINames, getDoINames, getGoalName, getGoalStatus, getGoalStatus, getGoalStatus, getGoalStatus, getGoalStatusBoolean, getGoalStatusString, getGravityPotential, getHighestPrioritySoftGoal, getIndices, getInvariant, getInvariants, getInvariants, getInvariants, getJacobianDoFStartRow, getJacobianDoIStartRow, getJacobianLimitStartRow, getJacobianStartColumn, getJointRX, getJointRX, getJointRXRef, getLimit, getLimitExcess, getLimitExcess, getLimitExcess, getLimitExcess, getLimitExcess, getLimitExcess, getLimitGoalName, getLimitPenalty, getLimitPenalty, getLimitPenalty, getLimitPenalty, getLimitPenalty, getLimits, getLimits, getLimits, getMobility, getMobility, getMobility, getMobilitydEMdQRef, getMobilityDoF, getMobilitydQdEMRef, getMobilitydRdEMRef, getMobilitydRdQRef, getMobilityQuaternionRef, getMobilityRotMatrixRef, getMobilityRX, getMobilityRXClampedInverseRef, getMobilityRXInverseRef, getMobilityRXTranslation, getMobilityRXTranslation, getMobilityToParent, getMobilityToParentRX, getNames, getNodeWidgetProperty, getNumDoF, getNumDoI, getNumGoalComponentsSet, getNumRotationDoF, getNumRotationGoalComponentsSet, getNumTranslationDoF, getNumTranslationGoalComponentsSet, getPackedInvariantsRef, getParent, getParentLink, getParentMobilityCMTQuaternionRef, getParentMobilityCMTRef, getParentMobilityCMTRotMatrixRef, getParentName, getParentSubFrame, getParentSubFrameOf, getPotential, getPotential, getPotentialGoal, getPotentialGoalName, getResidual, getResidual, getResidual, getRotation, getRotation, getRotation, getRotationDoFIndices, getRotationDoFIndices, getRotationDoFIndices, getRotationDoFIndicesRef, getRotationDoFNames, getRotationDoFNames, getRotationDoFNames, getRotationDoIIndices, getRotationDoIIndices, getRotationDoIIndices, getRotationDoIIndicesRef, getRotationDoINames, getRotationDoINames, getRotationDoINames, getRotationLimit, getSetGoalComponentNames, getSetGoalComponentNames, getSetGoalComponentNames, getSetGoalComponents, getSetRotationGoalComponents, getSetTranslationGoalComponents, getSingleMobilityDoF, getSoftGoalPriority, getSoftGoalSolveLevel, getSoftGoalWeight, getSolver, getStiffness, getStiffnessPotential, getStiffnessPotential, getStiffnessRest, getSubFrameCMT, getSubFrameCMT, getSubFrameCMT, getSubFrameCMT, getSubFrameRX, getSubFrameRX, getSubFrameRX, getSubRX, getSubRX, getSubRXName, getSubRXRef, getSupportSize, getTranslation, getTranslation, getTranslation, getTranslationDoFIndices, getTranslationDoFIndices, getTranslationDoFIndices, getTranslationDoFIndicesRef, getTranslationDoFNames, getTranslationDoFNames, getTranslationDoFNames, getTranslationDoIIndices, getTranslationDoIIndices, getTranslationDoIIndices, getTranslationDoIIndicesRef, getTranslationDoINames, getTranslationDoINames, getTranslationDoINames, getTranslationLimit, getType, getTypeName, getUnsetGoalComponents, handleMobilityChange, handleMobilityChange, hasAnyGoal, hasChildren, hasEitherSoftGoal, hasGoal, hasInvariant, hasLock, hasPosture, hasPotential, hasSubFrame, hasTarget, inDoFLimits, inDoFLimits, isActuator, isBroken, isChainSubtransform, isChildToMobilityIdentity, isClosureJoint, isConnected, isCrossing, isDoF, isDoF, isDoFLimited, isDoI, isDoI, isEffector, isEffector, isGoalSubtransform, isHardGoalSubtransform, isIdentity, isIncrossing, isInternalFrame, isLimited, isLimited, isLimited, isLimitGoal, isLocked, isMobilityIdentity, isMobilityInverted, isMobilitySpaceSubtransform, isMobilityToParentIdentity, isOutcrossing, isPositioningSubtransform, isPotentialEnabled, isPotentialGoal, isRotationDoF, isRotationDoI, isRotationLimited, isSoftGoalSubtransform, isStiffnessSet, isTranslationDoF, isTranslationDoI, isTranslationLimited, isTreeJoint, isTreeLeaf, lockPositioningTransforms, merge, merge, otherPositioningTransform, recomputeInverse, recomputeInverse, recomputeInverse, recomputeInverse, recomputeInverse, recomputeJointRX, resetSolveFields, setAllDoFLimits, setAllRotationLimits, setAllTranslationLimits, setChildLink, setChildLink, setChildLink, setChildLink, setChildToMobility, setChildToMobility, setDoF, setDoF, setDoF, setLock, setLocked, setLockRotation, setLockToMobility, setLockTranslation, setMobility, setMobilityDoF, setMobilityDoF, setMobilityDoF, setMobilityDoF, setMobilityToGoal, setMobilityToInvariant, setMobilityToLock, setMobilityToParent, setMobilityToParent, setMobilityToPosture, setMobilityToStiffnessRest, setMobilityToTarget, setParentLink, setParentLink, setParentLink, setParentLink, setPosture, setPostureRotation, setPostureToMobility, setPostureTranslation, setPotentialEnabled, setRotation, setRotationLimits, setSoftGoal, setSoftGoalDoF, setSoftGoalDoF, setSoftGoalDoF, setSoftGoalDoF, setSoftGoalPriority, setSoftGoalRX, setSoftGoalRXOrDoF, setSoftGoalToMobility, setSoftGoalWeight, setStiffness, setStiffnessRest, setStiffnessRestToMobility, setSubRX, setSubRX, setTarget, setTargetRotation, setTargetToMobility, setTargetTranslation, setTranslation, setTranslationLimits, setTypeImpl, setUnsetGoalDoFtoNaN, toString, toString, transformMobility, transformMobility, unAliasSubFrame, unlockPositioningTransforms, unsetAllDoFLimits, unsetAllRotationLimits, unsetAllTranslationLimits, unsetLock, unsetPosture, unsetRotationLimits, unsetSoftGoal, unsetSoftGoals, unsetStiffness, unsetTarget, unsetTranslationLimits, updateAxesWidget, updateAxesWidget, updateCircleWidget, updateCMTs, updateCylinderWidget, updateCylinderWidget, updateGoalFromMobility, updatePrismWidgets, updatePrismWidgets, updateRectangleWidgets, updateRectangleWidgets, updateRouteWidgets, updateRouteWidgets, updateSectorWidgets, updateSectorWidgets, updateSegmentWidget, updateSliderWidget, updateSliderWidget, updateSphereWidget, updateSphereWidget, updateSquareWidget, updateWidgetsImpl

Methods inherited from class msim.model.LinkageNode

addWidget, addWidget, addWidget, addWidget, addWidget, addWidget, checkNamePattern, collectTreeMetrics, collectTreeMetrics, compareTo, dump, dumpSubFrames, dumpTree, dumpTree, dumpTreeMetrics, dumpTreeMetrics, enableDBGNormals, enableDBGNormalsRecursively, enableDBGSpheres, enableDBGSpheresRecursively, findImpl, findJoint, findJoint, findJoints, findJoints, findLink, findLink, findLinks, findLinks, findMultipleImpl, findNode, findNode, findNodes, findNodes, getCMT, getCMT, getDepth, getName, getNumUserWidgets, getNumWidgets, getProperty, getSubFrame, getSubFrame, getSubFrameCMT, getSubFrameCMT, getSubFrameCMT, getSubFrameName, getSubFrameRX, getSubFrameRX, getSubFrameRX, getWidget, getWidgetLength, getWidgets, hasDescendant, hasProperty, hasWidgets, isAutoNamed, isExplicitlyHidden, isExplicitlyHighlighted, isExplicitlyMasked, isExplicitlyVisible, isLive, isUserWidget, lock, removeAllWidgets, removeProperty, removeWidget, removeWidget, renameWidget, reparentUserWidgets, reparentUserWidgets, reparentWidget, reparentWidget, reparentWidgetImpl, reparentWidgets, reparentWidgets, setAllTreeJointsToGoal, setAllTreeJointsToHighestPrioritySoftGoal, setAllTreeJointsToPosture, setAllTreeJointsToTarget, setExplicitlyHidden, setExplicitlyHighlighted, setExplicitlyMasked, setExplicitlyVisible, setLockedRecursively, setProperty, setProperty, setWidgetLength, setWidgetLength, setWidgetLengthRecursively, setWidgetLengthRecursively, toString, traverseTree, unlock, updateCMTsRecursively, updateWidgets, updateWidgetsRecursively

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

cvsid

private static final java.lang.String cvsid

See Also:

Constant Field Values

SF_LINK_COM

public static final java.lang.String SF_LINK_COM

Subframes representing the position of our child's CoM and subtree CoM in our parent's link frame.

See Also:

Constant Field Values

SF_SUBTREE_COM

public static final java.lang.String SF_SUBTREE_COM

Subframes representing the position of our child's CoM and subtree CoM in our parent's link frame.

See Also:

Constant Field Values

Constructor Detail

RootJoint

protected RootJoint(Linkage linkage,
         Link link)

Makes a new RootJoint attaching link to the Linkage.groundLink of linkage.

RootJoints are consed automatically as part of Link construction. Consing the first link in a Linkage is a special case: the RootJoint in that case is initially an orphan; the Linkage constructor then parents it to the current ground link of the parent linkage, if any, else null.

Method Detail

setName

public java.lang.String setName(java.lang.String name)

RootJoints are always auto-named.

Overrides:

setName in class Joint

Parameters:

name - new name or null to auto-name

Returns:

the old name

Throws:

java.lang.UnsupportedOperationException

setChildLink

public Link setChildLink(Link link,
                boolean holdAbsolutePose)

RootJoints are automatically attached to their associated Link.

Overrides:

setChildLink in class Joint

Throws:

java.lang.UnsupportedOperationException

setChildLink

public Link setChildLink(Link link)

setChildLink(Link, boolean), holds absolute pose.

Overrides:

setChildLink in class Joint

setParentLink

public Link setParentLink(Link link,
                 boolean holdAbsolutePose)

RootJoints are always connected to the Linkage.groundLink.

Overrides:

setParentLink in class Joint

Throws:

java.lang.UnsupportedOperationException

setParentLink

public Link setParentLink(Link link)

setParentLink(Link, boolean), holds absolute pose.

Overrides:

setParentLink in class Joint

makeClosureJoint

public Joint makeClosureJoint()

RootJoints are automatically made closure joints as necessary.

Overrides:

makeClosureJoint in class Joint

Throws:

java.lang.UnsupportedOperationException

makeTreeJoint

public Joint makeTreeJoint()

Chains to Link.makeRootLink() on Joint.childLink.

Overrides:

makeTreeJoint in class Joint

invert

public Joint invert()

RootJoints cannot be inverted.

Overrides:

invert in class Joint

Throws:

java.lang.UnsupportedOperationException

setChildToMobilityRX

public void setChildToMobilityRX(vona.math.RX rx)

For a RootJoint, Joint.jointRX is always equal to Joint.mobilityRX.

Throws:

java.lang.UnsupportedOperationException

setChildToMobilityRX

public void setChildToMobilityRX(Link child)

see setChildToMobilityRX(RX)

setMobilityToParentRX

public void setMobilityToParentRX(vona.math.RX rx)

For a RootJoint, Joint.jointRX is always equal to Joint.mobilityRX.

Throws:

java.lang.UnsupportedOperationException

setMobilityToParentRX

public void setMobilityToParentRX(Link parent)

see setMobilityToParentRX(RX)

setType

public Joint.Type setType(Joint.Type type)

RootJoints are always Joint.Type.GENERAL.

Overrides:

setType in class Joint

Returns:

the old type

Throws:

java.lang.UnsupportedOperationException

checkType

public java.lang.String checkType(Joint.Type type)

Check if type is a valid type for this joint in its current connected configuration.

See Link.isConnectableToJointType(java.lang.String, msim.model.Joint.Type).

This impl only allows Joint.Type.GENERAL.

Overrides:

checkType in class Joint

Returns:

null if type is a valid type, otherwise a string describing the problem

setPosture

public Joint setPosture(vona.math.RX rx)

RootJoints can have targets but not postures.

Throws:

java.lang.UnsupportedOperationException

remove

public void remove()

RootJoints are automatically removed when the corresponding Link is removed.

Overrides:

remove in class Joint

Throws:

java.lang.UnsupportedOperationException

merge

public Link merge(boolean reparentUserJointWidgets,
         boolean reparentUserLinkWidgets)

RootJoints cannot be merged.

Overrides:

merge in class Joint

Returns:

the Link to which things were merged, which will be our parent Link if currently connected, otherwise it will be the attached Link, if any, else null

Throws:

java.lang.UnsupportedOperationException

hasStiffness

public boolean hasStiffness()

RootJoints never have stiffness.

Overrides:

hasStiffness in class Joint

Returns:

false

hasGravity

public boolean hasGravity()

Check if this Joint has gravity.

Default impl returns false. See hasGravity().

This impl returns true iff Joint.potentialEnabled, Joint.childLink is set and has mass, and MSim.isGravitySetAndEnabled().

Overrides:

hasGravity in class Joint

getGravityPotential

public double getGravityPotential(vona.math.RX mobilityRX)

Impl of Joint.getGravityPotential().

Default impl returns 0. See getGravityPotential(vona.math.RX).

This impl returns 0 if not connected, if the child link has no mass, or if not MSim.isGravitySetAndEnabled(). Else it computes m*g*h where m is the child link mass, g is the magnitude of the gravity vector, and h is the height of the child link CoM along the gravity vector up direction in ground link frame.

Overrides:

getGravityPotential in class Joint

Parameters:

mobilityRX - the value to use for the current state of the mobility of this joint, typically Joint.mobilityRX

setMobilityToGravityRest

public Joint setMobilityToGravityRest()

Set the mobility DoF to zero gravitational potential energy stored in this joint.

RootJoint impl does nothing unless connected, child link has mass, and MSim.isGravitySetAndEnabled(). Otherwise a translation vector t is added to the mobility transform s.t. t is the shortest vector that results in zero gravity potential.

Overrides:

setMobilityToGravityRest in class Joint

getSubFrameRX

public vona.math.RX getSubFrameRX(java.lang.String frame,
                         vona.math.RX rx,
                         boolean clamped)

Extends superclass impl to handle SF_LINK_COM and SF_SUBTREE_COM.

Overrides:

getSubFrameRX in class Joint

clamped - whether to use Joint.mobilityRXClamped instead of Joint.mobilityRX if they differ

positioningTransformsMutable

public boolean positioningTransformsMutable()

Positioning transforms are not mutable on RootJoints.

Overrides:

positioningTransformsMutable in class Joint

setPositioningTransformsLocked

public Joint setPositioningTransformsLocked(boolean lock)

Positioning transforms cannot be unlocked on RootJoints.

Overrides:

setPositioningTransformsLocked in class Joint

setLimits

protected boolean setLimits(int component,
                int offset,
                java.lang.String name,
                double min,
                double max)

RootJoint limits are immutable.

Overrides:

setLimits in class Joint

Throws:

java.lang.UnsupportedOperationException

makeRootJointName

public static java.lang.String makeRootJointName(java.lang.String name)

make the RootJoint name for Link name

suppressTreeDump

protected boolean suppressTreeDump()

Whether to suppress this node in LinkageNode.dumpTree(String, PrintStream), default false.

This impl suppresses unconstrained root closure joints.

Overrides:

suppressTreeDump in class LinkageNode