com.yobotics.simulationconstructionset.util.math.frames
Class YoSpatialForceVector

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.math.frames.YoSpatialForceVector

public class YoSpatialForceVector
extends java.lang.Object


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

Constructor Detail

YoSpatialForceVector

public YoSpatialForceVector(java.lang.String namePrefix,
                            java.lang.String nameSuffix,
                            ReferenceFrame frame,
                            YoVariableRegistry registry)
Method Detail

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)