in_patch.world File Reference

Detailed Description

Example of how to set an in_patch joint. An in_patch joint is a generalization of the planar joint, where the surface does not need to be planar, but it can be any ruled surface. The four points used to defined the joint give the corners of the ruled surface.

This example can be processed following the next steps (this can be slow since the solution set is 3-dimensional. It is better to use the interactive tool described below):

After this sequence of commands you will see the motions of a cylinder on a ruled surface, with the cylinder orthogonal to the surface at all time. Use the slider to move the cylinder. Note that the solutions are not sorted in any way (the sort operation only works for one-dimensional solution sets and here the solution set is 3-dimensional).

You can also interactively explore the solution set executing:

Use the sliders in the graphical interface to move the cylinder.

See Also
prismatic.world, revolute.world, universal.world, spherical.world

Definition in file in_patch.world.