com.yobotics.simulationconstructionset.util.math.frames
Class YoSpatialForceVector
java.lang.Object
com.yobotics.simulationconstructionset.util.math.frames.YoSpatialForceVector
public class YoSpatialForceVector
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
YoSpatialForceVector
public YoSpatialForceVector(java.lang.String namePrefix,
java.lang.String nameSuffix,
ReferenceFrame frame,
YoVariableRegistry registry)
set
public void set(SpatialForceVector spatialForceVector)
packSpatialForceVector
public void packSpatialForceVector(SpatialForceVector spatialForceVector)
setUsingArm
public void setUsingArm(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d arm)
getExpressedInFrame
public ReferenceFrame getExpressedInFrame()
setAngularPart
public void setAngularPart(javax.vecmath.Vector3d angularPart)
setLinearPart
public void setLinearPart(javax.vecmath.Vector3d linearPart)
setAngularPartX
public void setAngularPartX(double val)
setAngularPartY
public void setAngularPartY(double val)
setAngularPartZ
public void setAngularPartZ(double val)
setLinearPartX
public void setLinearPartX(double val)
setLinearPartY
public void setLinearPartY(double val)
setLinearPartZ
public void setLinearPartZ(double val)
checkAndSet
public void checkAndSet(SpatialForceVector other)
add
public void add(SpatialForceVector other)
sub
public void sub(SpatialForceVector other)
set
public void set(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
set
public void set(ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
set
public void set(ReferenceFrame expressedInFrame,
double[] doubleArray)
addAngularPart
public void addAngularPart(javax.vecmath.Vector3d angularPart)
subAngularPart
public void subAngularPart(javax.vecmath.Vector3d angularPart)
addLinearPart
public void addLinearPart(javax.vecmath.Vector3d linearPart)
subLinearPart
public void subLinearPart(javax.vecmath.Vector3d linearPart)
getAngularPartAsFrameVectorCopy
public FrameVector getAngularPartAsFrameVectorCopy()
getLinearPartAsFrameVectorCopy
public FrameVector getLinearPartAsFrameVectorCopy()
getAngularPartCopy
public javax.vecmath.Vector3d getAngularPartCopy()
getLinearPartCopy
public javax.vecmath.Vector3d getLinearPartCopy()
packMatrix
public void packMatrix(org.ejml.data.DenseMatrix64F matrix)
packMatrixColumn
public void packMatrixColumn(org.ejml.data.DenseMatrix64F matrix,
int column)
toDenseMatrix
public org.ejml.data.DenseMatrix64F toDenseMatrix()
packAngularPart
public void packAngularPart(javax.vecmath.Vector3d vectorToPack)
packAngularPart
public void packAngularPart(FrameVector vectorToPack)
packLinearPart
public void packLinearPart(javax.vecmath.Vector3d vectorToPack)
packLinearPart
public void packLinearPart(FrameVector vectorToPack)
times
public void times(double scalar)
changeFrame
public void changeFrame(ReferenceFrame newReferenceFrame)
scaleLinearPart
public void scaleLinearPart(double scalar)
scaleAngularPart
public void scaleAngularPart(double scalar)
scale
public void scale(double scalar)
negate
public void negate()
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
setToZero
public void setToZero()
packMatrix
public void packMatrix(double[] matrix)