Uses of Class
us.ihmc.utilities.screwTheory.Twist

Packages that use Twist
us.ihmc.utilities.screwTheory   
 

Uses of Twist in us.ihmc.utilities.screwTheory
 

Methods in us.ihmc.utilities.screwTheory with parameters of type Twist
 void Twist.add(Twist other)
          Adds another twist to this twist, after doing some reference frame checks.
 void SpatialAccelerationVector.changeFrame(ReferenceFrame newReferenceFrame, Twist twistOfCurrentWithRespectToNew, Twist twistOfBodyWithRespectToBase)
          Changes the reference frame in which this spatial acceleration vector is expressed See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25.
 void Twist.checkAndSet(Twist other)
          Sets this twist so that it is the same as another twist
 void Momentum.compute(GeneralizedRigidBodyInertia inertia, Twist twist)
          Sets this momentum to inertia * twist
 void RigidBodyInertia.computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench, SpatialAccelerationVector acceleration, Twist twist)
           
 double RigidBodyInertia.computeKineticCoEnergy(Twist twist)
          Computes the kinetic co-energy of the rigid body to which this inertia belongs twistTranspose * Inertia * twist See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 40, eq.
 double Momentum.computeKineticCoEnergy(Twist twist)
           
 double Wrench.dot(Twist twist)
          Takes the dot product of this wrench and a twist, resulting in the (reference frame independent) instantaneous power.
static void ScrewTestTools.integrate(javax.vecmath.Matrix3d rotationToPack, javax.vecmath.Tuple3d positionToPack, double dt, Twist twist)
           
 void SpatialAccelerationVector.packAccelerationOfPointFixedInBodyFrame(Twist twist, FramePoint pointFixedInBodyFrame, FrameVector frameVectorToPack)
          Packs the linear acceleration of a point that is fixed in bodyFrame but is expressed in baseFrame, with respect to baseFrame, expressed in expressedInFrame
 void SphericalJoint.packJointTwist(Twist twistToPack)
           
 void SixDoFJoint.packJointTwist(Twist twistToPack)
           
 void PlanarJoint.packJointTwist(Twist twistToPack)
           
 void OneDoFJoint.packJointTwist(Twist twistToPack)
           
 void InverseDynamicsJoint.packJointTwist(Twist twistToPack)
           
 void OneDoFJoint.packPredecessorTwist(Twist twistToPack)
           
 void InverseDynamicsJoint.packPredecessorTwist(Twist twistToPack)
           
 void AbstractInverseDynamicsJoint.packPredecessorTwist(Twist twistToPack)
           
 void TwistCalculator.packRelativeTwist(Twist twistToPack, RigidBody base, RigidBody body)
           
 void OneDoFJoint.packSuccessorTwist(Twist twistToPack)
           
 void InverseDynamicsJoint.packSuccessorTwist(Twist twistToPack)
           
 void AbstractInverseDynamicsJoint.packSuccessorTwist(Twist twistToPack)
           
 void GeometricJacobian.packTwist(Twist twistToPack, org.ejml.data.DenseMatrix64F jointVelocities)
          packs the twist that corresponds to the given joint velocity vector
 void TwistCalculator.packTwistOfBody(Twist twistToPack, RigidBody rigidBody)
           
 void OneDoFJoint.packUnitJointTwist(Twist twistToPack)
           
 void Twist.set(Twist other)
           
 void SpatialAccelerationVector.setBasedOnOriginAcceleration(FrameVector angularAcceleration, FrameVector originAcceleration, Twist twistOfBodyWithRespectToBase)
           
 void SixDoFJoint.setJointTwist(Twist jointTwist)
           
 void Twist.sub(Twist other)
           
 

Constructors in us.ihmc.utilities.screwTheory with parameters of type Twist
Twist(Twist other)
          Copy constructor
 

Constructor parameters in us.ihmc.utilities.screwTheory with type arguments of type Twist
GeometricJacobian(InverseDynamicsJoint joint, java.util.List<Twist> unitTwists, ReferenceFrame jacobianFrame)