us.ihmc.utilities.screwTheory
Class SixDoFJoint
java.lang.Object
us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
us.ihmc.utilities.screwTheory.SixDoFJoint
- All Implemented Interfaces:
- CommonJoint, InverseDynamicsJoint
public class SixDoFJoint
- extends AbstractInverseDynamicsJoint
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)
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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 |
SixDoFJoint
public SixDoFJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
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)