Simulation Construction Set

Simulation Construction Set

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›Link and LinkGraphicsDescription API

SCS API

  • Summary
  • Constructors
  • Simulation Parameters
  • Create the World
  • Simulate methods
  • Data Import Export Methods
  • Camera Methods
  • Adding to the GUI

Link and LinkGraphicsDescription API

  • Summary
  • Link constructor and methods
  • LinkGraphicsDescription constructor and methods
  • Adding shapes
  • YoAppearance helper API

Robot and Joint API

  • Summary
  • Robot
  • Robot Constructor and Methods
  • Joint Constructor and methods
  • General Joint Methods

Kinematic, ExternalForce, and GroundContactPoint API

  • Summary
  • Introduction to special points
  • ExternalForcePoint and GroundContactPoint constructors and methods
  • GroundContactModel interface
  • GroundProfile Interface

Link constructor and methods

Link constructor and methods for setting the mass, center of mass offset, and moment of inertia. These methods affect the dynamics of the link. All of the others are for graphical purposes only. The center of mass offset is the vector from the joint to the center of mass. The moment of inertia is defined about the center of mass. Thus a moment of inertia of zero corresponds to a point mass.

Creating a Link and Setting its Properties

Creates a link with name lname.

Link(String lname) 

Sets the mass of the link.

void setMass(double mass)

Sets the moment of inertia of the link about the center of mass.

void setMomentOfInertia(double Ixx, double Iyy, double Izz)

Sets the center of mass offset of the link with respect to its corresponding joint.

void setComOffset(double xOffset, double yOffset, double zOffset)

Sets the associated graphics properties object for this link. Graphics3DObject is an abstraction that LinkGraphicsDescription implements.

Void setLinkGraphics(Graphics3DObject linkGraphics)

Related Example:

Example of how Link Constructors are used

← SummaryLinkGraphicsDescription constructor and methods →
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