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Packages that use Wrench | |
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us.ihmc.utilities.screwTheory |
Uses of Wrench in us.ihmc.utilities.screwTheory |
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Methods in us.ihmc.utilities.screwTheory that return Wrench | |
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Wrench |
InverseDynamicsCalculator.computeTotalExternalWrench(ReferenceFrame referenceFrame)
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static Wrench |
TotalWrenchCalculator.computeTotalWrench(java.util.Collection<Wrench> wrenches,
ReferenceFrame referenceFrame)
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Methods in us.ihmc.utilities.screwTheory with parameters of type Wrench | |
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void |
Wrench.add(Wrench other)
Adds another wrench to this one, after performing some reference frame checks. |
void |
Wrench.checkAndSet(Wrench other)
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void |
RigidBodyInertia.computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench,
SpatialAccelerationVector acceleration,
Twist twist)
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org.ejml.data.DenseMatrix64F |
GeometricJacobian.computeJointTorques(Wrench wrench)
returns the joint torque vector that corresponds to the given wrench |
double |
Twist.dot(Wrench wrench)
Takes the dot product of this twist and a wrench, resulting in the (reference frame independent) instantaneous power. |
void |
InverseDynamicsCalculator.getJointWrench(InverseDynamicsJoint joint,
Wrench wrenchToPack)
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void |
SixDoFJoint.packWrench(Wrench wrenchToPack)
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void |
Wrench.set(Wrench other)
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void |
InverseDynamicsCalculator.setExternalWrench(RigidBody rigidBody,
Wrench externalWrench)
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void |
SphericalJoint.setTorqueFromWrench(Wrench jointWrench)
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void |
SixDoFJoint.setTorqueFromWrench(Wrench jointWrench)
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void |
PlanarJoint.setTorqueFromWrench(Wrench jointWrench)
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void |
OneDoFJoint.setTorqueFromWrench(Wrench jointWrench)
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void |
InverseDynamicsJoint.setTorqueFromWrench(Wrench jointWrench)
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void |
SixDoFJoint.setWrench(Wrench jointWrench)
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void |
Wrench.sub(Wrench other)
Subtracts another wrench from this one, after performing some reference frame checks. |
Method parameters in us.ihmc.utilities.screwTheory with type arguments of type Wrench | |
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static void |
ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches,
java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
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static void |
ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches,
java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
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static Wrench |
TotalWrenchCalculator.computeTotalWrench(java.util.Collection<Wrench> wrenches,
ReferenceFrame referenceFrame)
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Constructors in us.ihmc.utilities.screwTheory with parameters of type Wrench | |
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Wrench(Wrench other)
Copy constructor |
Constructor parameters in us.ihmc.utilities.screwTheory with type arguments of type Wrench | |
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InverseDynamicsCalculator(ReferenceFrame inertialFrame,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
SpatialAccelerationCalculator spatialAccelerationCalculator,
TwistCalculator twistCalculator)
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InverseDynamicsCalculator(ReferenceFrame inertialFrame,
SpatialAccelerationVector rootAcceleration,
java.util.HashMap<RigidBody,Wrench> externalWrenches,
java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore,
boolean doVelocityTerms,
boolean doAcceleration,
TwistCalculator twistCalculator)
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