remixlab.dandelion.constraint

Class LocalConstraint

java.lang.Object

remixlab.dandelion.constraint.Constraint

remixlab.dandelion.constraint.AxisPlaneConstraint

remixlab.dandelion.constraint.LocalConstraint

public class LocalConstraint
extends AxisPlaneConstraint

An AxisPlaneConstraint defined in the Frame local coordinate system.

The AxisPlaneConstraint.translationConstraintDirection() and AxisPlaneConstraint.rotationConstraintDirection() are expressed in the Frame local coordinate system (see Frame.referenceFrame() ).

Nested Class Summary

Nested classes/interfaces inherited from class remixlab.dandelion.constraint.AxisPlaneConstraint

AxisPlaneConstraint.Type

Constructor Summary

Constructors

Constructor and Description
LocalConstraint()

Method Summary

Modifier and Type	Method and Description
Rotation	constrainRotation(Rotation rotation, Frame frame) When AxisPlaneConstraint.rotationConstraintType() is of Type AXIS, constrain rotation to be a rotation around an axis whose direction is defined in the Frame local coordinate system by AxisPlaneConstraint.rotationConstraintDirection().
Vec	constrainTranslation(Vec translation, Frame frame) Depending on AxisPlaneConstraint.translationConstraintType(), constrain translation to be along an axis or limited to a plane defined in the local coordinate system by AxisPlaneConstraint.translationConstraintDirection().

Methods inherited from class remixlab.dandelion.constraint.AxisPlaneConstraint

rotationConstraintDirection, rotationConstraintType, setRotationConstraint, setRotationConstraintDirection, setRotationConstraintType, setTranslationConstraint, setTranslationConstraintDirection, setTranslationConstraintType, translationConstraintDirection, translationConstraintType

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LocalConstraint

public LocalConstraint()

Method Detail

constrainTranslation

public Vec constrainTranslation(Vec translation,
                                Frame frame)

Depending on AxisPlaneConstraint.translationConstraintType(), constrain translation to be along an axis or limited to a plane defined in the local coordinate system by AxisPlaneConstraint.translationConstraintDirection().

Overrides:

constrainTranslation in class Constraint

constrainRotation

public Rotation constrainRotation(Rotation rotation,
                                  Frame frame)

When AxisPlaneConstraint.rotationConstraintType() is of Type AXIS, constrain rotation to be a rotation around an axis whose direction is defined in the Frame local coordinate system by AxisPlaneConstraint.rotationConstraintDirection().

Overrides:

constrainRotation in class Constraint