us.ihmc.utilities.screwTheory
Class OneDoFJoint

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

public abstract class OneDoFJoint
extends AbstractInverseDynamicsJoint


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
OneDoFJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame, OneDoFJointReferenceFrame afterJointFrame)
           
OneDoFJoint(java.lang.String name, RigidBody predecessor, RigidBody successor, ReferenceFrame beforeJointFrame, OneDoFJointReferenceFrame afterJointFrame, FrameVector jointAxis)
           
 
Method Summary
 OneDoFJoint checkAndGetAsOneDoFJoint(InverseDynamicsJoint originalJoint)
           
 int getConfigurationMatrixSize()
           
 double getDampingParameter()
           
 int getDegreesOfFreedom()
           
 ReferenceFrame getFrameAfterJoint()
           
 double getiMax()
           
 double getiMin()
           
 double getJointLimitLower()
           
 double getJointLimitUpper()
           
 double getKd()
           
 double getKi()
           
 double getKp()
           
 double getQ()
           
 double getQd()
           
 double getQdd()
           
 double getQddDesired()
           
 double getQdDesired()
           
 double getqDesired()
           
 double getTau()
           
 double getTauDamping()
           
 void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packDesiredPredecessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packDesiredSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointTwist(Twist twistToPack)
           
 void packPredecessorTwist(Twist twistToPack)
           
 void packSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packSuccessorTwist(Twist twistToPack)
           
 void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
           
 void packUnitJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packUnitJointTwist(Twist twistToPack)
           
 void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void resetPositionControl()
           
 void setConfiguration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDampingParameter(double dampingParameter)
           
 void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAccelerationToZero()
           
 void setiMax(double iMax)
           
 void setiMin(double iMin)
           
 void setJointLimitLower(double jointLimitLower)
           
 void setJointLimitUpper(double jointLimitUpper)
           
 void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
           
 void setKd(double kd)
           
 void setKi(double ki)
           
 void setKp(double kp)
           
 void setQ(double q)
           
 void setQd(double qd)
           
 void setQdd(double qdd)
           
 void setQddDesired(double qddDesired)
           
 void setQddDesired(InverseDynamicsJoint originalJoint)
           
 void setQdDesired(double qdDesired)
           
 void setqDesired(double qDesired)
           
 void setTau(double tau)
           
 void setTauDamping(double dampingValue)
           
 void setTorqueFromWrench(Wrench jointWrench)
           
 void setVelocity(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void 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
 
Methods inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
setSuccessor
 

Constructor Detail

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)
Method Detail

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()