Class Mechanism

Index

Constructors

Accessors

goals joints links

Methods

addGoal addLink addPrismaticJoint addRevoluteJoint addSphericalJoint build release removeGoal solve

Constructors

constructor

new Mechanism(world: World): Mechanism
Constructor.
Parameters
- world: World
  The virtual world.
Returns Mechanism

Accessors

goals

get goals(): readonly Goal[]
Returns readonly Goal[]

joints

get joints(): readonly KinematicJoint[]
Returns readonly KinematicJoint[]

links

get links(): readonly KinematicLink[]
Returns readonly KinematicLink[]

Methods

addGoal

addGoal(link: KinematicLink): Goal
Adds a goal.
Parameters
- link: KinematicLink
  The kinematic link.
Returns Goal
The goal.

addLink

addLink(): KinematicLink
Adds a kinematic link.

Returns KinematicLink
The kinematic link.

addPrismaticJoint

addPrismaticJoint(
base: KinematicLink,
attachment: KinematicLink,
): KinematicPrismaticJoint
Adds a kinematic prismatic joint.
Parameters
- base: KinematicLink
  The base kinematic link.
- attachment: KinematicLink
  The attachment kinematic link.
Returns KinematicPrismaticJoint
The kinematic prismatic joint.

addRevoluteJoint

addRevoluteJoint(
base: KinematicLink,
attachment: KinematicLink,
): KinematicRevoluteJoint
Adds a kinematic revolute joint.
Parameters
- base: KinematicLink
  The base kinematic link.
- attachment: KinematicLink
  The attachment kinematic link.
Returns KinematicRevoluteJoint
The kinematic revolute joint.

addSphericalJoint

addSphericalJoint(
base: KinematicLink,
attachment: KinematicLink,
): KinematicSphericalJoint
Adds a kinematic spherical joint.
Parameters
- base: KinematicLink
  The base kinematic link.
- attachment: KinematicLink
  The attachment kinematic link.
Returns KinematicSphericalJoint
The kinematic spherical joint.

build

build(optimize: boolean): void
Builds the mechanism.
Parameters
- optimize: boolean
  Whether to optimize the mechanism for improved runtime performance.
Returns void

release

release(): void
Releases the mechanism.

Returns void

removeGoal

removeGoal(goal: Goal): boolean
Removes a goal.
Parameters
- goal: Goal
  The goal.
Returns boolean
True if the goal was removed, false otherwise.

solve

solve(): number
Solves the mechanism.

Returns number
The objective function penalty.