spherical.world File Reference

Detailed Description

Example of how to set up a spherical joint including range limitation.

For details on the notation used in this file, check our TRO-09 paper.

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 spherical motions of a cylinder with respect to a point on the plane. 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
in_patch.world, revolute.world, universal.world, prismatic.world

Definition in file spherical.world.