Uses of Class
msim.model.Joint

Packages that use Joint

Package	Description
msim	Mixed physical/virtual linkage Simulator.
msim.control	Mixed physical/virtual linkage Simulator control algorithms.
msim.model	Mixed physical/virtual linkage Simulator model representation and algorithms.
msim.serialization	Mixed physical/virtual linkage Simulator serialization.
msim.trajectory	Mixed physical/virtual linkage Simulator trajectory representation and algorithms.
msim.ui	Mixed physical/virtual linkage Simulator user interface.

Uses of Joint in msim

Methods in msim that return Joint

Modifier and Type	Method and Description
static Joint	MSim.findJoint(java.lang.String namePattern) aliases eponymous method in MSim.getUltimateGroundLink()
static Joint	MSim.findJoint(java.lang.String namePattern, int nth) aliases eponymous method in MSim.getUltimateGroundLink()

Methods in msim that return types with arguments of type Joint

Modifier and Type	Method and Description
static java.util.Collection<Joint>	MSim.findJoints(java.lang.String namePattern) aliases eponymous method in MSim.getUltimateGroundLink()
static java.util.Collection<Joint>	MSim.findJoints(java.lang.String namePattern, java.util.Collection<Joint> joints) aliases eponymous method in MSim.getUltimateGroundLink()
static java.util.Iterator<Joint>	MSim.recursiveJointIterator() aliases eponymous method in MSim.linkage

Methods in msim with parameters of type Joint

Modifier and Type	Method and Description
static boolean	MSim.recursivelyContains(Joint j) aliases eponymous method in MSim.linkage

Method parameters in msim with type arguments of type Joint

Modifier and Type	Method and Description
static java.util.Collection<Joint>	MSim.findJoints(java.lang.String namePattern, java.util.Collection<Joint> joints) aliases eponymous method in MSim.getUltimateGroundLink()

Uses of Joint in msim.control

Fields in msim.control with type parameters of type Joint

Modifier and Type	Field and Description
protected java.util.Set<Joint>	Solver.actuators Actuating Joints (see header doc), in order, collected in Solver.init().
protected java.util.Set<Joint>	Solver.chainClosures Chain closure Joints (see header doc), in order, collected in Controller.analyze().
static java.util.Comparator<Joint>	Solver.GOAL_PRIORITY_COMPARATOR Orders Joints based on their softGoalPriority.
protected java.util.List<Joint>	Solver.invariantEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.limitEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.lockEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.postureEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.potentialEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.targetEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.List<Joint>	Solver.treeEffectors Joints corresponding to the indicated kind of effector (see header doc), in order, collected in Solver.init().
protected java.util.Set<Joint>	Controller.unassignedChainClosures Chain closure joints which have not yet been assigned to a Solver in Controller.analyze().

Methods in msim.control with parameters of type Joint

Modifier and Type	Method and Description
protected void	Solver.compareAnalyticToNumeric(double av, int ni, Joint e, Joint a, int ec, int ac) Helper to compare analytic and numeric Jacobian components.
void	Solver.dumpSubJacobian(Joint effector, Joint actuator) Solver.dumpSubJacobian(Joint, Joint, PrintStream) to Systemout.
void	Solver.dumpSubJacobian(Joint effector, Joint actuator, java.io.PrintStream s) Dumps actuator theta, effector residual(s), and intersection of jacobian rows and cols for given effector, actuator pair.
protected boolean	Controller.isLockedWithRespectTo(Joint treeJoint, Joint closureJoint) Check if treeJoint is considered locked with respect to closureJoint.
protected void	Solver.numericSubJacobian(double[] jacobian, Joint e, Joint a, boolean aInverted, int goal, vona.math.RX eCToA, vona.math.RX aToEP, int asc, int[] aoi, int isr, int[] eii, int osr, int[] eoi) Compute partial derivatives of effector e TXEM components with respect to actuator a TXEM components by numeric perturbation.
protected void	Solver.numericSubJacobian(Joint e, Joint a, boolean aInverted, int goal, vona.math.RX eCToA, vona.math.RX aToEP, int asc, int[] aoi, int isr, int[] eii, int osr, int[] eoi) Covers Solver.numericSubJacobian(double[], Joint, Joint, boolean, int, RX, RX, int, int[], int, int[], int, int[]), stores results in Solver.numericJacobian.
protected void	Controller.populateSolver(Solver solver, Joint closureJoint) Removes closureJoint from Controller.unassignedChainClosures, adds it to solver, and does same for all closure joints reachable from closureJoint.support.

Uses of Joint in msim.model

Subclasses of Joint in msim.model

Modifier and Type	Class and Description
class	RootJoint Special Joint that always connects to the ground Link.

Fields in msim.model declared as Joint

Modifier and Type	Field and Description
Joint	Link.breadcrumb used in Controller.analyze()
protected Joint	Link.parentJoint The tree Joint leading to this Link.

Fields in msim.model with type parameters of type Joint

Modifier and Type	Field and Description
protected java.util.Set<Joint>	Link.chainClosures The chain closure Joints whose child is this Link, if any.
protected java.util.Map<java.lang.String,Joint>	Link.childJoints Immediate descendents of this Link in the model tree.
protected java.util.Set<Joint>	Linkage.joints the set of all Joints in this Linkage in insertion order
java.util.List<Joint>	Joint.support Joints associated to this Joint in a Solver.
protected java.util.Set<Joint>	Link.unmodifiableChainClosures unmodifiable view of Link.chainClosures
protected java.util.Collection<Joint>	Link.unmodifiableChildJoints unmodifiable view of Link.childJoints
protected java.util.Set<Joint>	Linkage.unmodifiableJoints unmodifiable view of Linkage.joints

Methods in msim.model that return Joint

Modifier and Type	Method and Description
Joint	LinkageNode.findJoint(java.lang.String namePattern) LinkageNode.findJoint(String, int), returning the first Joint with the given namePattern.
Joint	LinkageNode.findJoint(java.lang.String namePattern, int nth) Similar to LinkageNode.findNode(String, int).
Joint	Link.getChildJoint(java.lang.String name) Get the named immediate descendent of this Link, or null if not found.
Joint	Link.getJointAttachedToUserSubFrame(java.lang.String name) Get the Joint attached to the named user subframe, or null if none.
Joint	Link.getParentJoint() returns Link.parentJoint
Joint	RootJoint.invert() RootJoints cannot be inverted.
Joint	Joint.invert() Invert both the topology and the geometry of this Joint.
Joint	Joint.lockPositioningTransforms() covers setPositioningTransformsLocked(boolean)
Joint	RootJoint.makeClosureJoint() RootJoints are automatically made closure joints as necessary.
Joint	Joint.makeClosureJoint() Ensure that this Joint is a chain closure.
Joint	RootJoint.makeTreeJoint() Chains to Link.makeRootLink() on childLink.
Joint	Joint.makeTreeJoint() Ensure that this Joint is a tree joint iff it's connected.
Joint	Joint.setLockToMobility() opposite of setMobilityToLock()
Joint	Joint.setMobilityToGoal(int which) Set mobilityRX to the current value of the indicated goal.
Joint	RootJoint.setMobilityToGravityRest() Set the mobility DoF to zero gravitational potential energy stored in this joint.
Joint	Joint.setMobilityToGravityRest() Set the mobility DoF to zero gravitational potential energy stored in this joint.
Joint	Joint.setMobilityToInvariant() setMobilityToGoal(int) RX_INVARIANT
Joint	Joint.setMobilityToLock() setMobilityToGoal(int) RX_LOCK
Joint	Joint.setMobilityToPosture() setMobilityToGoal(int) RX_POSTURE
Joint	Joint.setMobilityToStiffnessRest() Set the mobility DoF to the stiffnessRest.
Joint	Joint.setMobilityToTarget() setMobilityToGoal(int) RX_TARGET
Joint	RootJoint.setPositioningTransformsLocked(boolean lock) Positioning transforms cannot be unlocked on RootJoints.
Joint	Joint.setPositioningTransformsLocked(boolean lock) Flag RX_CHILD_TO_MOBILITY and RX_MOBILITY_TO_PARENT as locked or unlocked.
Joint	RootJoint.setPosture(vona.math.RX rx) RootJoints can have targets but not postures.
Joint	Joint.setPostureToMobility() covers setSoftGoalToMobility(int)
Joint	Joint.setSoftGoalPriority(float priority) set the softGoalPriority of this Joint
Joint	Joint.setSoftGoalToMobility(int which) Opposite of setMobilityToGoal(int).
Joint	Joint.setSoftGoalWeight(double weight) set the softGoalWeight of this Joint
Joint	Joint.setStiffnessRestToMobility() Set stiffnessRest to the current mobility DoF.
Joint	Joint.setTargetToMobility() covers setSoftGoalToMobility(int)
Joint	Link.split() Insert a new Joint and Link in the model tree between this Link and its current parent Joint.
Joint	Joint.transformMobility(vona.math.RX rx) transformMobility(RX, String) in SF_PARENT_MOBILITY
Joint	Joint.transformMobility(vona.math.RX rx, java.lang.String inSubFrame) Transform the mobility frames relative to the given frame.
Joint	Joint.unlockPositioningTransforms() covers setPositioningTransformsLocked(boolean)
Joint	Joint.unsetAllDoFLimits() similar to unsetAllTranslationLimits()
Joint	Joint.unsetAllRotationLimits() similar to unsetAllTranslationLimits()
Joint	Joint.unsetAllTranslationLimits() unsetTranslationLimits(int) all translation DoF
Joint	Joint.unsetLock() chains to setLocked(boolean)
Joint	Joint.unsetPosture() unsetSoftGoal(int) RX_POSTURE
Joint	Joint.unsetRotationLimits(int component) similar to unsetTranslationLimits(int)
Joint	Joint.unsetSoftGoal(int which) un-set current RX_TARGET or RX_POSTURE
Joint	Joint.unsetSoftGoals() un-set both RX_TARGET or RX_POSTURE
Joint	Joint.unsetTarget() unsetSoftGoal(int) RX_TARGET
Joint	Joint.unsetTranslationLimits(int component) covers setTranslationLimits(int, double, double), always un-sets

Methods in msim.model that return types with arguments of type Joint

Modifier and Type	Method and Description
java.util.ArrayList<Joint>	LinkageNode.findJoints(java.lang.String namePattern) LinkageNode.findJoints(String, Collection), consing a new ArrayList.
java.util.Collection<Joint>	LinkageNode.findJoints(java.lang.String namePattern, java.util.Collection<Joint> joints) Similar to LinkageNode.findLinks(String, Collection).
java.util.Set<Joint>	Link.getChainClosures() returns an unmodifiable view of Link.chainClosures
java.util.Collection<Joint>	Link.getChildJoints() returns an unmodifiable view of Link.childJoints
java.util.Set<Joint>	Linkage.getJointSet() get a reference to an immutable view of the set of Joints
java.util.Iterator<Joint>	Linkage.jointIterator() get an iterator on an immutable view of the set of Joints
java.util.Iterator<Joint>	Linkage.recursiveJointIterator() Return an iterator over all the Joints in all the linkages in the linkage tree.

Methods in msim.model with parameters of type Joint

Modifier and Type	Method and Description
boolean	Linkage.contains(Joint j) check if this Linkage contains Joint j
void	Joint.dumpSubJacobian(Joint other) dumpSubJacobian(Joint, PrintStream) to System.out
void	Joint.dumpSubJacobian(Joint other, java.io.PrintStream s) Solver.dumpSubJacobian(Joint, Joint, PrintStream) that relates this Joint, whether it's an actuator or an effector, to other in solver, if any.
java.lang.String	Link.isConnectableToJoint(java.lang.String name, Joint joint) Link.isConnectableToJoint(String, Joint, Link), no replacing
java.lang.String	Link.isConnectableToJoint(java.lang.String name, Joint joint, Link replacing) Check if the user subframe name on this Link is connectable to the given joint.
boolean	Linkage.recursivelyContains(Joint j) Check Linkage.contains(Joint) on every linkage in the linkage tree.
Link	Link.setPose(Joint joint) Set the pose of this link as if it were the child of joint.

Method parameters in msim.model with type arguments of type Joint

Modifier and Type	Method and Description
java.util.Collection<Joint>	LinkageNode.findJoints(java.lang.String namePattern, java.util.Collection<Joint> joints) Similar to LinkageNode.findLinks(String, Collection).

Uses of Joint in msim.serialization

Fields in msim.serialization declared as Joint

Modifier and Type	Field and Description
(package private) Joint	DAEExporter.LatentClosure.closureJoint the corresponding MSim Joint

Methods in msim.serialization with parameters of type Joint

Modifier and Type	Method and Description
DAEMSimStiffnessProps	DAEMSimStiffnessProps.readFrom(Joint joint) read all settings from joint
DAEMSimJoint	DAEMSimJoint.readFrom(Joint joint) Read all settings from joint.
DAEMSimClosure	DAEMSimClosure.readFrom(Joint joint) Extends superclass impl to also read DAEMSimClosure.childLink if joint has a child link.
DAEMSimJoint	DAEMSimJoint.writeChildToMobilityTo(Joint joint) Interpret DAEMSimJoint.childToMobility as either a subframe name or an RX TXEM vector, and set it to joint.
DAEMSimJoint	DAEMSimJoint.writeMobilityToParentTo(Joint joint) Interpret DAEMSimJoint.mobilityToParent as either a subframe name or an RX TXEM vector, and set it to joint.
DAEMSimStiffnessProps	DAEMSimStiffnessProps.writeTo(Joint joint) write all settings to joint
DAEMSimJoint	DAEMSimJoint.writeTo(Joint joint, vona.math.RX jointRX) Write all settings to joint.

Constructors in msim.serialization with parameters of type Joint

Constructor and Description
DAEExporter.LatentClosure(vona.dae.jaxb.dae.NodeType daeParent, Joint closureJoint) sets all fields by reference

Uses of Joint in msim.trajectory

Fields in msim.trajectory declared as Joint

Modifier and Type	Field and Description
protected Joint[]	TrajectoryActor.joint The Joints containing the transforms which this TrajectoryActor reads/writes, in order.

Methods in msim.trajectory that return Joint

Modifier and Type	Method and Description
Joint	TrajectoryActor.getBoundJoint(int index) get the Joint of the indicated binding

Uses of Joint in msim.ui

Fields in msim.ui declared as Joint

Modifier and Type	Field and Description
(package private) Joint	InteractorDriver.JointInteractor.joint the target Joint or null if not bound

Methods in msim.ui that return Joint

Modifier and Type	Method and Description
protected Joint	UI.getLinkManipulationJoint(Link link) Called by UI.manipulateLink(Link, boolean) to get (or generate) a Joint appropriate for manipulating link.
Joint	UI.getPickedJoint() UI.getPickedJoint(boolean), null ok
Joint	UI.getPickedJoint(boolean nullOk) covers UI.getPickedNode(boolean), returns null if not a Joint

Methods in msim.ui with parameters of type Joint

Modifier and Type	Method and Description
java.lang.String	UI.addJointInteractive(Joint joint) UI.addJointInteractive(Link, Link, Joint, boolean), get parent and child from pick and/or selection, no rotX.
java.lang.String	UI.addJointInteractive(Joint joint, boolean rotX) UI.addJointInteractive(Link, Link, Joint, boolean), get parent and child from pick and/or selection.
java.lang.String	UI.addJointInteractive(Link parent, Joint joint) UI.addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection, no rotX.
java.lang.String	UI.addJointInteractive(Link parent, Joint joint, boolean rotX) UI.addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection.
java.lang.String	UI.addJointInteractive(Link parent, Link child, Joint joint) UI.addJointInteractive(Link, Link, Joint, boolean), no rotX.
java.lang.String	UI.addJointInteractive(Link parent, Link child, Joint joint, boolean rotX) Attach joint to the indicated nodes.
protected boolean	InteractorDriver.JointInteractor.bind(Joint joint, int xformID) Inform this interactor of the particular Joint sub-transform that it controls.
void	UI.manipulateJoint(Joint joint) UI.manipulateJoint(Joint, int, int, boolean) automatically selecting slackID, requesting manipulation of sub-transform RX_MOBILITY, and always driving full goal.
void	UI.manipulateJoint(Joint joint, boolean driveFullGoal) UI.manipulateJoint(Joint, int, int, boolean) automatically selecting slackID and requesting manipulation of sub-transform RX_MOBILITY.
void	UI.manipulateJoint(Joint joint, int xformID) UI.manipulateJoint(Joint, int, int, boolean), automatially selecting slackID and driving full goal.
void	UI.manipulateJoint(Joint joint, int xformID, boolean driveFullGoal) UI.manipulateJoint(Joint, int, int, boolean), automatially selecting slackID.
void	UI.manipulateJoint(Joint joint, int xformID, int slackID) UI.manipulateJoint(Joint, int, int, boolean), always drives full goal.
void	UI.manipulateJoint(Joint joint, int xformID, int slackID, boolean driveFullGoal) Start manipulating a particular Joint sub-transform.
protected int	Display.renderTree(Joint j) Render j and the sub-tree rooted at its child Link, if any, respecting EntityClass.visibility.