us.ihmc.simulationconstructionset.RigidJoint Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset;

import us.ihmc.euclid.matrix.RotationMatrix;
import us.ihmc.euclid.matrix.interfaces.RotationMatrixReadOnly;
import us.ihmc.euclid.tuple3D.Vector3D;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.simulationconstructionset.physics.engine.featherstone.RigidJointPhysics;

/**
 * RigidJoint is a Robot Joint which has no motion. It is used in order to create a transformation
 * from the previous joint. This is useful if you want to have the following joint axes at non pure
 * X, Y, Z axes, for example if you have the zero positions of robot shoulders canted at 45 degrees,
 * but want the rest of the joints to be straight off of that 45 degrees when their joint angles are
 * 0. You can achieve that without this class, by computing their joint axes, but it is more
 * convenient to use this class instead.
 */
public class RigidJoint extends Joint
{
   private static final long serialVersionUID = 1341493615657008348L;

   private final Vector3D rigidTranslation = new Vector3D();
   private final RotationMatrix rigidRotation = new RotationMatrix();

   public RigidJoint(String jname, Vector3DReadOnly offset, Robot rob)
   {
      super(jname, offset, rob, 0);
      physics = new RigidJointPhysics(this);
      physics.u_i = null;
   }

   @Override
   protected void update()
   {
      jointTransform3D.getTranslation().set(rigidTranslation);
      jointTransform3D.getRotation().set(rigidRotation);
   }

   public void setRigidTranslation(Vector3DReadOnly jointTranslation)
   {
      rigidTranslation.set(jointTranslation);
   }

   public void setRigidRotation(RotationMatrixReadOnly jointRotation)
   {
      rigidRotation.set(jointRotation);
   }

   public Vector3DReadOnly getRigidTranslation()
   {
      return rigidTranslation;
   }

   public RotationMatrixReadOnly getRigidRotation()
   {
      return rigidRotation;
   }
}