docsby gkjohnson

Goal

extendsJointFrame

A frame representing a target for a connected link to reach. The degrees of freedom set on a goal are the axes that are constrained, as opposed to the movable degrees of freedom of a joint. A goal cannot have children and can only be connected to a link with makeClosure.

goal.setFreeDoF();                          // all axes constrained ( default )
goal.setFreeDoF( DOF.EX, DOF.EY, DOF.EZ );  // position only goal
goal.setGoalDoF( DOF.X, DOF.Y, DOF.Z );     // position only goal
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Methods

setGoalDoF

setGoalDoF(
	// The constrained `DOF` fields.
	...dof: number
): void

Sets the axes the goal constrains. Rotation must be constrained on all three axes or none, so EX, EY, and EZ must be passed together or omitted.

setFreeDoF

setFreeDoF(
	// The free `DOF` fields.
	...dof: number
): void

Sets the axes the goal leaves free. Every other axis is constrained. The same rotation restriction as setGoalDoF applies.

Inherited

From Joint

Properties
Methods

From Frame

Properties
Methods