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

LinkGraphicsDescription constructor and methods

Part 2 lists the LinkGraphicsDescription constructor and methods for adding rotation and translation. These transformations accumulate until identity() is called, in which the transformation for new shapes to be added is reset to the origin. Note that if you rotate and then translate, the translation will be along the new coordinate system defined by the rotation. For example, rotate(Math.PI/2.0, Axis.X); translate(0.0,1.0,0.0); is equivalent to translate(0.0,0.0,1.0); rotate(Math.PI/2.0, Axis.X);

Creates an instance of LinkGraphicsDescription

LinkGraphicsDescription()

Reset back to the joint origin.

void identity()

Translate by (tx,ty,tz)

void translate(double tx, double ty, double tz)

Rotate by rotAng about rotAxis. rotAxis can be Axis.X, Axis.Y, or Axis.Z

void rotate(double rotAng, int rotAxis)

Constants for specifying axis of rotation for Link.rotate method.

public static final int Axis.X; 
public static final int Axis.Y; 
public static final int Axis.Z;

Related Example:

Example of how LinkGraphicsDescription is used

← Link constructor and methodsAdding shapes →
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