These pages are auto-generated from self-documenting comments embedded in class files.

For more information on breve and steve, refer to the breve homepage.

Joint : PrismaticJoint

Class Description:

This subclass of Joint is used to link two Link objects together using a sliding linear joint.

A retractable TV antenna is an example of an object that uses multiple prismatic joints.

NOTE: this class is included as part of the file "Joint.tz".

Class methods:


get-joint-position

Returns a double indicating how far this joint is from its natural position (which corresponds to a value of 0).


link parent parentLink (object) to-child childLink (object) with-normal theNormal (vector) with-parent-point parentPoint (vector) with-child-point childPoint (vector)

Creates a prismatic (sliding) joint between parentLink and childLink. The joint will be locoated at parentPoint on the parent's body, and at childPoint on the child's body. The joint will slide along the axis theNormal.

If parentLink is the value 0, then the joint will be attached to a fixed point in the world, specified with parentPoint.


set-joint-limits min min1 (double) max max1 (double)

Sets the minimum and maximum allowed positions for this joint.


Documentation created Tue May 11 10:28:37 2004