Class Mechanism

Kinematic Mechanism.

Remarks

Used by the RobotControllerComponent to calculate the inverse kinematics for industrial robots. Supports closed kinematic loops and multiple goals. Users should generally use the robot controller component instead.

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[]
The goals to be solved.

Returns readonly Goal[]

joints

get joints(): readonly KinematicJoint[]
The kinematic joints.

Returns readonly KinematicJoint[]

links

get links(): readonly KinematicLink[]
The kinematic links.

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
Remarks
Optimization may take a few milliseconds, but the mechanism will solve faster. The mechanism must be rebuilt after adding or removing links, joints, or goals. The mechanism must be rebuilt after changing the objective of a goal.

release

release(): void
Releases the mechanism.

Returns void
Remarks
IMPORTANT! Must be called when the mechanism is no longer needed (e.g. from inside Component.removed), to free native resources.

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.