us.ihmc.utilities.screwTheory
Class SixDoFJoint

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

public class SixDoFJoint
extends AbstractInverseDynamicsJoint


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
SixDoFJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
 
Method Summary
 int getConfigurationMatrixSize()
           
 int getDegreesOfFreedom()
           
 ReferenceFrame getFrameAfterJoint()
           
 void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointTwist(Twist twistToPack)
           
 void packRotation(double[] yawPitchRoll)
           
 void packRotation(javax.vecmath.Matrix3d rotationToPack)
           
 void packRotation(javax.vecmath.Quat4d rotationToPack)
           
 void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
           
 void packTranslation(javax.vecmath.Vector3d vectorToPack)
           
 void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packWrench(Wrench wrenchToPack)
           
 void setAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void setConfiguration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void setDesiredAccelerationToZero()
           
 void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
           
 void setJointTwist(Twist jointTwist)
           
 void setPosition(double x, double y, double z)
           
 void setPosition(javax.vecmath.Tuple3d jointTranslation)
           
 void setPositionAndRotation(javax.media.j3d.Transform3D transform)
           
 void setQddDesired(InverseDynamicsJoint originalJoint)
           
 void setRotation(double yaw, double pitch, double roll)
           
 void setRotation(javax.vecmath.Matrix3d jointRotation)
           
 void setRotation(javax.vecmath.Quat4d jointRotation)
           
 void setSuccessor(RigidBody successor)
           
 void setTorqueFromWrench(Wrench jointWrench)
           
 void setVelocity(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setWrench(Wrench jointWrench)
           
 void updateMotionSubspace()
           
 
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
 

Constructor Detail

SixDoFJoint

public SixDoFJoint(java.lang.String name,
                   RigidBody predecessor,
                   ReferenceFrame beforeJointFrame)
Method Detail

getFrameAfterJoint

public ReferenceFrame getFrameAfterJoint()

packJointTwist

public void packJointTwist(Twist twistToPack)

packJointAcceleration

public void packJointAcceleration(SpatialAccelerationVector accelerationToPack)

packDesiredJointAcceleration

public void packDesiredJointAcceleration(SpatialAccelerationVector accelerationToPack)

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)

setTorqueFromWrench

public void setTorqueFromWrench(Wrench jointWrench)

getDegreesOfFreedom

public int getDegreesOfFreedom()

setDesiredAcceleration

public void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
                                   int rowStart)

setPositionAndRotation

public void setPositionAndRotation(javax.media.j3d.Transform3D transform)

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)

setPosition

public void setPosition(javax.vecmath.Tuple3d jointTranslation)

setPosition

public void setPosition(double x,
                        double y,
                        double z)

setJointTwist

public void setJointTwist(Twist jointTwist)

setAcceleration

public void setAcceleration(SpatialAccelerationVector jointAcceleration)

setDesiredAcceleration

public void setDesiredAcceleration(SpatialAccelerationVector jointAcceleration)

setWrench

public void setWrench(Wrench jointWrench)

packRotation

public void packRotation(javax.vecmath.Quat4d rotationToPack)

packRotation

public void packRotation(javax.vecmath.Matrix3d rotationToPack)

packRotation

public void packRotation(double[] yawPitchRoll)

packTranslation

public void packTranslation(javax.vecmath.Vector3d vectorToPack)

packWrench

public void packWrench(Wrench wrenchToPack)

updateMotionSubspace

public void updateMotionSubspace()

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)