us.ihmc.utilities.screwTheory
Class OneDoFJoint
java.lang.Object
us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
us.ihmc.utilities.screwTheory.OneDoFJoint
- All Implemented Interfaces:
- CommonJoint, InverseDynamicsJoint
- Direct Known Subclasses:
- PrismaticJoint, RevoluteJoint
public abstract class OneDoFJoint
- extends AbstractInverseDynamicsJoint
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
OneDoFJoint
public OneDoFJoint(java.lang.String name,
RigidBody predecessor,
RigidBody successor,
ReferenceFrame beforeJointFrame,
OneDoFJointReferenceFrame afterJointFrame,
FrameVector jointAxis)
OneDoFJoint
public OneDoFJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame,
OneDoFJointReferenceFrame afterJointFrame)
getFrameAfterJoint
public ReferenceFrame getFrameAfterJoint()
packJointTwist
public void packJointTwist(Twist twistToPack)
packSuccessorTwist
public void packSuccessorTwist(Twist twistToPack)
- Specified by:
packSuccessorTwist
in interface InverseDynamicsJoint
- Overrides:
packSuccessorTwist
in class AbstractInverseDynamicsJoint
packPredecessorTwist
public void packPredecessorTwist(Twist twistToPack)
- Specified by:
packPredecessorTwist
in interface InverseDynamicsJoint
- Overrides:
packPredecessorTwist
in class AbstractInverseDynamicsJoint
packJointAcceleration
public void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
packSuccessorAcceleration
public void packSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packSuccessorAcceleration
in interface InverseDynamicsJoint
- Overrides:
packSuccessorAcceleration
in class AbstractInverseDynamicsJoint
packDesiredJointAcceleration
public void packDesiredJointAcceleration(SpatialAccelerationVector accelerationToPack)
packDesiredSuccessorAcceleration
public void packDesiredSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packDesiredSuccessorAcceleration
in interface InverseDynamicsJoint
- Overrides:
packDesiredSuccessorAcceleration
in class AbstractInverseDynamicsJoint
packDesiredPredecessorAcceleration
public void packDesiredPredecessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packDesiredPredecessorAcceleration
in interface InverseDynamicsJoint
- Overrides:
packDesiredPredecessorAcceleration
in class AbstractInverseDynamicsJoint
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()
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)
getQ
public double getQ()
setQ
public void setQ(double q)
getQd
public double getQd()
setQd
public void setQd(double qd)
getQdd
public double getQdd()
setQdd
public void setQdd(double qdd)
getQddDesired
public double getQddDesired()
setQddDesired
public void setQddDesired(double qddDesired)
getTau
public double getTau()
setTau
public void setTau(double tau)
packUnitJointTwist
public void packUnitJointTwist(Twist twistToPack)
packUnitJointAcceleration
public void packUnitJointAcceleration(SpatialAccelerationVector accelerationToPack)
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()
checkAndGetAsOneDoFJoint
public OneDoFJoint checkAndGetAsOneDoFJoint(InverseDynamicsJoint originalJoint)
setJointPositionVelocityAndAcceleration
public void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
setQddDesired
public void setQddDesired(InverseDynamicsJoint originalJoint)
setTauDamping
public void setTauDamping(double dampingValue)
getTauDamping
public double getTauDamping()
getDampingParameter
public double getDampingParameter()
setDampingParameter
public void setDampingParameter(double dampingParameter)
getJointLimitLower
public double getJointLimitLower()
setJointLimitLower
public void setJointLimitLower(double jointLimitLower)
getJointLimitUpper
public double getJointLimitUpper()
setJointLimitUpper
public void setJointLimitUpper(double jointLimitUpper)
getqDesired
public double getqDesired()
getQdDesired
public double getQdDesired()
getKp
public double getKp()
getKd
public double getKd()
setqDesired
public void setqDesired(double qDesired)
setQdDesired
public void setQdDesired(double qdDesired)
setKp
public void setKp(double kp)
setKd
public void setKd(double kd)
getKi
public double getKi()
setKi
public void setKi(double ki)
getiMin
public double getiMin()
setiMin
public void setiMin(double iMin)
getiMax
public double getiMax()
setiMax
public void setiMax(double iMax)
resetPositionControl
public void resetPositionControl()