us.ihmc.utilities.screwTheory
Class RevoluteJoint

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
      extended by us.ihmc.utilities.screwTheory.OneDoFJoint
          extended by us.ihmc.utilities.screwTheory.RevoluteJoint
All Implemented Interfaces:
CommonJoint, InverseDynamicsJoint

public class RevoluteJoint
extends OneDoFJoint


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
RevoluteJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame, FrameVector jointAxis)
           
 
Method Summary
 FrameVector getJointAxis()
           
 void setSuccessor(RigidBody successor)
           
 
Methods inherited from class us.ihmc.utilities.screwTheory.OneDoFJoint
checkAndGetAsOneDoFJoint, getConfigurationMatrixSize, getDampingParameter, getDegreesOfFreedom, getFrameAfterJoint, getiMax, getiMin, getJointLimitLower, getJointLimitUpper, getKd, getKi, getKp, getQ, getQd, getQdd, getQddDesired, getQdDesired, getqDesired, getTau, getTauDamping, packConfigurationMatrix, packDesiredAccelerationMatrix, packDesiredJointAcceleration, packDesiredPredecessorAcceleration, packDesiredSuccessorAcceleration, packJointAcceleration, packJointTwist, packPredecessorTwist, packSuccessorAcceleration, packSuccessorTwist, packTauMatrix, packUnitJointAcceleration, packUnitJointTwist, packVelocityMatrix, resetPositionControl, setConfiguration, setDampingParameter, setDesiredAcceleration, setDesiredAccelerationToZero, setiMax, setiMin, setJointLimitLower, setJointLimitUpper, setJointPositionVelocityAndAcceleration, setKd, setKi, setKp, setQ, setQd, setQdd, setQddDesired, setQddDesired, setQdDesired, setqDesired, setTau, setTauDamping, setTorqueFromWrench, setVelocity, updateMotionSubspace
 
Methods inherited from class us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
getFrameBeforeJoint, getJointTransform3D, getMotionSubspace, getName, getOffsetTransform3D, getPredecessor, getSuccessor, toString, updateFramesRecursively
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

RevoluteJoint

public RevoluteJoint(java.lang.String name,
                     RigidBody predecessor,
                     ReferenceFrame beforeJointFrame,
                     FrameVector jointAxis)
Method Detail

setSuccessor

public void setSuccessor(RigidBody successor)

getJointAxis

public FrameVector getJointAxis()