rp1.rossum
Class RsMotionDepiction
java.lang.Object
rp1.rossum.RsMotionDepiction
public class RsMotionDepiction
- extends java.lang.Object
A class used for obtaining instantaneous velocity and other state
data for bodies in motion.
This class provides data useful in depicting a motion related
to one point on the robot body. It is a transitional class that
will probably be replaced by something more general (at the very
least, it may be enhanced to include the Jacobian). Anyway, it
gives us data for one point (x,y) at a simulation time and is
obtained by a RsMotion object.
Recall that in a circular motion, not all points on the robot
are moving in a single direction. Furthermore, not all points are
moving at a single velocity (though they all have the same rotational
velocity. Recall also that the robot may be moving forward or backward.
The reverseMotion flag indicates that the query point is moving
in a reverse (or null) motion with respective the the robot's orientation.
However, if a robot is rotatating, it is possible for a point on
one side of the robot body to have a forward motion while a point on
the opposite side has a reverse motion. Note that in the even that a
point is stationary, the reverse motion flag will be set to false
(even though it has no forward motion).
The following elements are populated
- time the simulation time at which the computations were made
- point the point on the robot body
- vector a scaled vector in direction of motion (magnitude is speed in m/s)
- rotationalVelocity is given in +/- radians/sec.
- reverseMotion indicates that motion is in a reverse direction from robot's perspective
- Since:
- 0.60
| Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
RsMotionDepiction
public RsMotionDepiction(double time,
RsPoint point,
RsVector vector,
double rotationalVelocity,
boolean reverseMotion)