us.ihmc.utilities.screwTheory
Class SphericalJoint
java.lang.Object
us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
us.ihmc.utilities.screwTheory.SphericalJoint
- All Implemented Interfaces:
- CommonJoint, InverseDynamicsJoint
public class SphericalJoint
- extends AbstractInverseDynamicsJoint
Methods inherited from class us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint |
getFrameBeforeJoint, getJointTransform3D, getMotionSubspace, getName, getOffsetTransform3D, getPredecessor, getSuccessor, packDesiredPredecessorAcceleration, packDesiredSuccessorAcceleration, packPredecessorTwist, packSuccessorAcceleration, packSuccessorTwist, toString, updateFramesRecursively |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
SphericalJoint
public SphericalJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
getFrameAfterJoint
public ReferenceFrame getFrameAfterJoint()
packJointTwist
public void packJointTwist(Twist twistToPack)
packJointAcceleration
public void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
packDesiredJointAcceleration
public void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
packTauMatrix
public void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
packVelocityMatrix
public void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
packDesiredAccelerationMatrix
public void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setDesiredAccelerationToZero
public void setDesiredAccelerationToZero()
setSuccessor
public void setSuccessor(RigidBody successor)
updateMotionSubspace
public void updateMotionSubspace()
setTorqueFromWrench
public void setTorqueFromWrench(Wrench jointWrench)
getDegreesOfFreedom
public int getDegreesOfFreedom()
setDesiredAcceleration
public void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setRotation
public void setRotation(double yaw,
double pitch,
double roll)
setRotation
public void setRotation(javax.vecmath.Quat4d jointRotation)
setRotation
public void setRotation(javax.vecmath.Matrix3d jointRotation)
setJointAngularVelocity
public void setJointAngularVelocity(FrameVector jointAngularVelocity)
setAcceleration
public void setAcceleration(FrameVector jointAngularAcceleration)
setDesiredAcceleration
public void setDesiredAcceleration(FrameVector jointAngularAccelerationDesired)
setJointTorque
public void setJointTorque(FrameVector jointTorque)
packRotation
public void packRotation(javax.vecmath.Quat4d rotationToPack)
packRotation
public void packRotation(javax.vecmath.Matrix3d rotationToPack)
packRotation
public void packRotation(double[] yawPitchRoll)
packJointTorque
public void packJointTorque(FrameVector jointTorqueToPack)
packConfigurationMatrix
public void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setConfiguration
public void setConfiguration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setVelocity
public void setVelocity(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
getConfigurationMatrixSize
public int getConfigurationMatrixSize()
setJointPositionVelocityAndAcceleration
public void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
setQddDesired
public void setQddDesired(InverseDynamicsJoint originalJoint)