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## Joint : PrismaticJoint

This class is included as part of the file Joint.tz.
To use this class in a simulation, include the line "@use Joint."

### Class description:

> This subclass of Joint is used to link two Link objects together using a sliding linear joint.

> A retractable TV antenna is an example of an object that uses multiple prismatic joints.

### Class methods:

> - get-joint-position
> - link
> - set-joint-force
> - set-joint-limits

`get-joint-position`

> Returns a double indicating how far this joint is from its natural position (which corresponds to a value of 0).

`link with-normal theNormal (vector) with-parent-point parentPoint (vector) with-child-point childPoint (vector) to-child childLink (object) parent parentLink = 0 (object) use-current-relative-rotation currentRotation = 0 (int)`

> Creates a prismatic (sliding) joint between parentLink and childLink. The joint will be locoated at parentPoint on the parent's body, and at childPoint on the child's body. The joint will slide along the axis theNormal.

> If parentLink is the value 0, then the joint will be attached to a fixed point in the world, specified with parentPoint.

`set-joint-force to forceValue (double)`

> Applies a force of forceValue to this joint.

`set-joint-limits min min1 (double) max max1 (double)`

> Sets the minimum and maximum allowed positions for this joint.

Documentation created Fri Aug 8 15:16:49 2008