Class ContactList

java.lang.Object
  |
  +--ContactList

public class ContactList

extends java.lang.Object

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

(package private) ContactNode[]	clist
(package private) int	contc
Point3d	externalForce
Point3d	externalTorque
(package private) double	graspCost
(package private) static int	MAXCONT
(package private) double	MIN_FTOR
(package private) double	MIN_TOTFTOR
Point3d	netForce
Point3d	netTorque
(package private) double	newton_MAX_IT
(package private) double	newton_zero
(package private) double	pert_rate
(package private) double	slip
(package private) double	slipCost
(package private) Object3d	targetObj
(package private) double	TORW
(package private) double	totFTOR

Constructor Summary

ContactList(Object3d obj)

Method Summary

int	addContact(Point3d Fdir, double ftor)
int	addContact(Segment link, Plane pl, Point3d p, Segment torqueseg, double ftor) link is the intersecting link.
(package private) double	costNewton()
void	newton()
void	resetList(Object3d obj)
double	searchNewton()
void	setExternalForce(Point3d F) Must be applied after netForce is calculated
java.lang.String	str()

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

MAXCONT

static final int MAXCONT

clist

ContactNode[] clist

contc

int contc

totFTOR

double totFTOR

graspCost

double graspCost

netForce

public Point3d netForce

netTorque

public Point3d netTorque

externalForce

public Point3d externalForce

externalTorque

public Point3d externalTorque

targetObj

Object3d targetObj

slipCost

double slipCost

slip

double slip

MIN_FTOR

double MIN_FTOR

MIN_TOTFTOR

double MIN_TOTFTOR

newton_MAX_IT

double newton_MAX_IT

TORW

double TORW

pert_rate

double pert_rate

newton_zero

double newton_zero

Constructor Detail

ContactList

public ContactList(Object3d obj)

Method Detail

addContact

public int addContact(Segment link,
                      Plane pl,
                      Point3d p,
                      Segment torqueseg,
                      double ftor)

link is the intersecting link. torqueseg is the one who applies the torque. We assume the distal joints only transduce the root joints torque.

addContact

public int addContact(Point3d Fdir,
                      double ftor)

resetList

public void resetList(Object3d obj)

setExternalForce

public void setExternalForce(Point3d F)

Must be applied after netForce is calculated

newton

public void newton()

costNewton

double costNewton()

searchNewton

public double searchNewton()

str

public java.lang.String str()