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## Joint : RevoluteJoint

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 rotating joint.

> RevoluteJoints rotate on a single axis, like a hinge. The knee is another example of a RevoluteJoint--it can bend back-and-forth, but it cannot twist or bend side-to-side.

### Class methods:

> - get-joint-angle
> - link
> - set-joint-limits
> - set-joint-torque

`get-joint-angle`

> Returns a double indicating how the angle of this joint 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 revolute (rotating) joint between parentLink and childLink. The joint will be lcoated at parentPoint on the parent's body, and at childPoint on the child's body. The joint will rotate 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-limits min min1 (double) max max1 (double)`

> Sets the minimum and maximum allowed rotations (in radians) for this joint.

`set-joint-torque to torqueValue (double)`

> Applies a torque of torqueValue to the revolute joint.

Documentation created Thu Jul 3 18:18:12 2008