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java.lang.Objectus.ihmc.utilities.screwTheory.ScrewTools
public class ScrewTools
Constructor Summary | |
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ScrewTools()
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Method Summary | ||
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static void |
addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches,
java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
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static PrismaticJoint |
addPrismaticJoint(java.lang.String jointName,
RigidBody parentBody,
javax.media.j3d.Transform3D transformToParent,
javax.vecmath.Vector3d jointAxis)
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static PrismaticJoint |
addPrismaticJoint(java.lang.String jointName,
RigidBody parentBody,
javax.vecmath.Vector3d jointOffset,
javax.vecmath.Vector3d jointAxis)
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static RevoluteJoint |
addRevoluteJoint(java.lang.String jointName,
RigidBody parentBody,
javax.media.j3d.Transform3D transformToParent,
javax.vecmath.Vector3d jointAxis)
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static RevoluteJoint |
addRevoluteJoint(java.lang.String jointName,
RigidBody parentBody,
javax.vecmath.Vector3d jointOffset,
javax.vecmath.Vector3d jointAxis)
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static RigidBody |
addRigidBody(java.lang.String name,
InverseDynamicsJoint parentJoint,
javax.vecmath.Matrix3d momentOfInertia,
double mass,
javax.vecmath.Vector3d centerOfMassOffset)
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static RigidBody[] |
computeConnectedBodies(InverseDynamicsJoint[] joints,
boolean includeRoot)
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static int |
computeDegreesOfFreedom(InverseDynamicsJoint[] jointList)
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static int |
computeDegreesOfFreedom(java.lang.Iterable<? extends InverseDynamicsJoint> jointList)
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static int |
computeDistanceToAncestor(RigidBody descendant,
RigidBody ancestor)
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static int[] |
computeIndicesForJoint(InverseDynamicsJoint[] jointsInOrder,
InverseDynamicsJoint... jointsToComputeIndicesFor)
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static InverseDynamicsJoint[] |
computeJointsInOrder(RigidBody rootBody)
Deprecated. |
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static InverseDynamicsJoint[] |
computeJointsInOrder(RigidBody rootBody,
java.util.Set<InverseDynamicsJoint> excludeSubTrees)
Deprecated. |
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static
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computeNumberOfJointsOfType(java.lang.Class<T> clazz,
InverseDynamicsJoint[] joints)
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static RigidBody[] |
computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint)
Deprecated. |
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static RigidBody[] |
computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint,
java.util.Set<RigidBody> excludeSubTrees)
Deprecated. |
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static RigidBody[] |
computeRigidBodiesInOrder(RigidBody rootBody,
java.util.Set<RigidBody> excludeSubTrees)
Deprecated. |
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static InverseDynamicsJoint[] |
computeSubtreeJoints(RigidBody... rootBodies)
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static RigidBody[] |
computeSuccessors(InverseDynamicsJoint[] joints)
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static InverseDynamicsJoint[] |
computeSupportAndSubtreeJoints(RigidBody... bodies)
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static RigidBody[] |
computeSupportAndSubtreeSuccessors(RigidBody... bodies)
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static InverseDynamicsJoint[] |
computeSupportJoints(RigidBody... bodies)
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static SpatialAccelerationVector |
createGravitationalSpatialAcceleration(RigidBody rootBody,
double gravity)
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static InverseDynamicsJoint[] |
createJointPath(RigidBody start,
RigidBody end)
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static int[] |
createParentMap(RigidBody[] rigidBodiesInOrder)
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static RevoluteJoint[] |
extractRevoluteJoints(InverseDynamicsJoint[] allJoints)
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static
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filterJoints(InverseDynamicsJoint[] source,
java.lang.Class<T> clazz)
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static
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filterJoints(InverseDynamicsJoint[] source,
java.lang.Object[] dest,
java.lang.Class<T> clazz)
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static InverseDynamicsJoint[] |
findJointsWithNames(InverseDynamicsJoint[] allJoints,
java.lang.String... jointNames)
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static RigidBody[] |
findRigidBodiesWithNames(RigidBody[] allBodies,
java.lang.String... names)
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static RigidBody |
getRootBody(RigidBody body)
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static org.ejml.data.DenseMatrix64F |
getTauMatrix(InverseDynamicsJoint[] jointsInOrder)
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static boolean |
isAncestor(RigidBody candidateDescendant,
RigidBody ancestor)
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static void |
packDesiredJointAccelerationsMatrix(InverseDynamicsJoint[] joints,
org.ejml.data.DenseMatrix64F desiredJointAccelerationsMatrixToPack)
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static void |
packJointVelocitiesMatrix(InverseDynamicsJoint[] joints,
org.ejml.data.DenseMatrix64F jointVelocitiesMatrixToPack)
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static void |
packJointVelocitiesMatrix(java.lang.Iterable<InverseDynamicsJoint> joints,
org.ejml.data.DenseMatrix64F jointVelocitiesMatrixToPack)
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static void |
setDesiredAccelerations(InverseDynamicsJoint[] jointList,
org.ejml.data.DenseMatrix64F jointAccelerations)
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static void |
setVelocities(InverseDynamicsJoint[] jointList,
org.ejml.data.DenseMatrix64F jointVelocities)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public ScrewTools()
Method Detail |
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public static RevoluteJoint addRevoluteJoint(java.lang.String jointName, RigidBody parentBody, javax.vecmath.Vector3d jointOffset, javax.vecmath.Vector3d jointAxis)
public static RevoluteJoint addRevoluteJoint(java.lang.String jointName, RigidBody parentBody, javax.media.j3d.Transform3D transformToParent, javax.vecmath.Vector3d jointAxis)
public static PrismaticJoint addPrismaticJoint(java.lang.String jointName, RigidBody parentBody, javax.vecmath.Vector3d jointOffset, javax.vecmath.Vector3d jointAxis)
public static PrismaticJoint addPrismaticJoint(java.lang.String jointName, RigidBody parentBody, javax.media.j3d.Transform3D transformToParent, javax.vecmath.Vector3d jointAxis)
public static RigidBody addRigidBody(java.lang.String name, InverseDynamicsJoint parentJoint, javax.vecmath.Matrix3d momentOfInertia, double mass, javax.vecmath.Vector3d centerOfMassOffset)
@Deprecated public static RigidBody[] computeRigidBodiesInOrder(RigidBody rootBody, java.util.Set<RigidBody> excludeSubTrees)
@Deprecated public static RigidBody[] computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint)
@Deprecated public static RigidBody[] computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint, java.util.Set<RigidBody> excludeSubTrees)
@Deprecated public static InverseDynamicsJoint[] computeJointsInOrder(RigidBody rootBody)
@Deprecated public static InverseDynamicsJoint[] computeJointsInOrder(RigidBody rootBody, java.util.Set<InverseDynamicsJoint> excludeSubTrees)
public static RigidBody[] computeSuccessors(InverseDynamicsJoint[] joints)
public static RigidBody[] computeConnectedBodies(InverseDynamicsJoint[] joints, boolean includeRoot)
public static RigidBody[] computeSupportAndSubtreeSuccessors(RigidBody... bodies)
public static InverseDynamicsJoint[] computeSupportAndSubtreeJoints(RigidBody... bodies)
public static InverseDynamicsJoint[] computeSupportJoints(RigidBody... bodies)
public static InverseDynamicsJoint[] computeSubtreeJoints(RigidBody... rootBodies)
public static RigidBody getRootBody(RigidBody body)
public static int[] createParentMap(RigidBody[] rigidBodiesInOrder)
public static org.ejml.data.DenseMatrix64F getTauMatrix(InverseDynamicsJoint[] jointsInOrder)
public static InverseDynamicsJoint[] createJointPath(RigidBody start, RigidBody end)
public static boolean isAncestor(RigidBody candidateDescendant, RigidBody ancestor)
public static int computeDistanceToAncestor(RigidBody descendant, RigidBody ancestor)
public static void packJointVelocitiesMatrix(InverseDynamicsJoint[] joints, org.ejml.data.DenseMatrix64F jointVelocitiesMatrixToPack)
public static void packJointVelocitiesMatrix(java.lang.Iterable<InverseDynamicsJoint> joints, org.ejml.data.DenseMatrix64F jointVelocitiesMatrixToPack)
public static void packDesiredJointAccelerationsMatrix(InverseDynamicsJoint[] joints, org.ejml.data.DenseMatrix64F desiredJointAccelerationsMatrixToPack)
public static int computeDegreesOfFreedom(InverseDynamicsJoint[] jointList)
public static int computeDegreesOfFreedom(java.lang.Iterable<? extends InverseDynamicsJoint> jointList)
public static SpatialAccelerationVector createGravitationalSpatialAcceleration(RigidBody rootBody, double gravity)
public static void setDesiredAccelerations(InverseDynamicsJoint[] jointList, org.ejml.data.DenseMatrix64F jointAccelerations)
public static void setVelocities(InverseDynamicsJoint[] jointList, org.ejml.data.DenseMatrix64F jointVelocities)
public static int[] computeIndicesForJoint(InverseDynamicsJoint[] jointsInOrder, InverseDynamicsJoint... jointsToComputeIndicesFor)
public static RevoluteJoint[] extractRevoluteJoints(InverseDynamicsJoint[] allJoints)
public static <T extends InverseDynamicsJoint> int computeNumberOfJointsOfType(java.lang.Class<T> clazz, InverseDynamicsJoint[] joints)
public static <T extends InverseDynamicsJoint> T[] filterJoints(InverseDynamicsJoint[] source, java.lang.Class<T> clazz)
public static <T extends InverseDynamicsJoint> void filterJoints(InverseDynamicsJoint[] source, java.lang.Object[] dest, java.lang.Class<T> clazz)
public static InverseDynamicsJoint[] findJointsWithNames(InverseDynamicsJoint[] allJoints, java.lang.String... jointNames)
public static RigidBody[] findRigidBodiesWithNames(RigidBody[] allBodies, java.lang.String... names)
public static void addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches, java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
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