All Frameworks Object Hierarchy This Framework Indexes
Joint (Object)
Interface to manage the Joint object.
Depending on their type, joints have parameters or not, representing length or angle:
Joint type | Parameter1 | Parameter2 |
Revolute | Angle | |
Prismatic | Length | |
Cylindrical | Length | Angle |
Screw | Length | Angle |
Gear | Angle | Angle |
Rack | Length | Angle |
Cable | Length | Length |
PointOnCurve | Length | |
RollCurve | Length | |
Each parameter can have a lower and/or an upper limit.
Methods are provided to set, unset and return the limits for each parameter.
Property Index
-
CurrentValue1
- Gets the joint current value for first parameter.
-
CurrentValue2
- Gets the joint current value for second parameter.
-
LowerLimit1
- Gets or returns the lower limit of the joint, for the first parameter.
-
LowerLimit2
- Gets or returns the lower limit of the joint, for the second parameter.
-
Type
- Returns the joint type.
-
UpperLimit1
- Gets or returns the upper limit of the joint, for the first parameter.
-
UpperLimit2
- Gets or returns the upper limit of the joint, for the second parameter.
Method Index
-
UnsetLowerLimit1
- Unsets the lower limit of the joint, for the first parameter.
-
UnsetLowerLimit2
- Unsets the lower limit of the joint, for the second parameter.
-
UnsetUpperLimit1
- Unsets the upper limit of the joint, for the first parameter.
-
UnsetUpperLimit2
- Unsets the upper limit of the joint, for the second parameter.
Properties
o Property CurrentValue1( | ) As (Read Only) |
-
Gets the joint current value for first parameter.
- Parameters:
-
- oCurrentValue
- This property is read only because current value modification is done by solver
o Property CurrentValue2( | ) As (Read Only) |
-
Gets the joint current value for second parameter.
- Parameters:
-
- oCurrentValue
- This property is read only because current value modification is done by solver
o Property LowerLimit1( | ) As |
-
Gets or returns the lower limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
o Property LowerLimit2( | ) As |
-
Gets or returns the lower limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
o Property Type( | ) As (Read Only) |
-
Returns the joint type.
- Parameters:
-
- oType
- The type of the joint
This property is read only because the construction of the object depends on the type.
o Property UpperLimit1( | ) As |
-
Gets or returns the upper limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
o Property UpperLimit2( | ) As |
-
Gets or returns the upper limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
Methods
-
Unsets the lower limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
When reading, an error is returned if the joint type has no such parameter, or if the limit is unset.
-
Unsets the lower limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
-
Unsets the upper limit of the joint, for the first parameter.
- Parameters:
-
- iLimitValue
- The value for the limit
-
Unsets the upper limit of the joint, for the second parameter.
- Parameters:
-
- iLimitValue
- The value for the limit