Methods in us.ihmc.utilities.screwTheory that return RigidBody |
static RigidBody |
ScrewTestTools.addRandomRigidBody(java.lang.String name,
java.util.Random random,
InverseDynamicsJoint joint)
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static RigidBody |
ScrewTools.addRigidBody(java.lang.String name,
InverseDynamicsJoint parentJoint,
javax.vecmath.Matrix3d momentOfInertia,
double mass,
javax.vecmath.Vector3d centerOfMassOffset)
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static RigidBody[] |
ScrewTools.computeConnectedBodies(InverseDynamicsJoint[] joints,
boolean includeRoot)
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static RigidBody[] |
ScrewTools.computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint)
Deprecated. |
static RigidBody[] |
ScrewTools.computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint,
java.util.Set<RigidBody> excludeSubTrees)
Deprecated. |
static RigidBody[] |
ScrewTools.computeRigidBodiesInOrder(RigidBody rootBody,
java.util.Set<RigidBody> excludeSubTrees)
Deprecated. |
static RigidBody[] |
ScrewTools.computeSuccessors(InverseDynamicsJoint[] joints)
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static RigidBody[] |
ScrewTools.computeSupportAndSubtreeSuccessors(RigidBody... bodies)
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static RigidBody[] |
ScrewTools.findRigidBodiesWithNames(RigidBody[] allBodies,
java.lang.String... names)
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RigidBody |
GeometricJacobian.getBase()
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RigidBody |
ScrewTestTools.RandomFloatingChain.getElevator()
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RigidBody |
GeometricJacobian.getEndEffector()
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RigidBody |
ScrewTestTools.RandomFloatingChain.getLeafBody()
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RigidBody |
InverseDynamicsJoint.getPredecessor()
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RigidBody |
AbstractInverseDynamicsJoint.getPredecessor()
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RigidBody |
TwistCalculator.getRootBody()
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RigidBody |
SpatialAccelerationCalculator.getRootBody()
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static RigidBody |
ScrewTools.getRootBody(RigidBody body)
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RigidBody |
InverseDynamicsJoint.getSuccessor()
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RigidBody |
AbstractInverseDynamicsJoint.getSuccessor()
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Methods in us.ihmc.utilities.screwTheory with parameters of type RigidBody |
void |
OriginalDynamicallyConsistentNullspaceCalculator.addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
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void |
DynamicallyConsistentNullspaceCalculator.addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
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void |
ConstrainedCentroidalMomentumMatrixCalculator.addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
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void |
ConstrainedCenterOfMassJacobianCalculator.addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
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static PrismaticJoint |
ScrewTools.addPrismaticJoint(java.lang.String jointName,
RigidBody parentBody,
javax.media.j3d.Transform3D transformToParent,
javax.vecmath.Vector3d jointAxis)
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static PrismaticJoint |
ScrewTools.addPrismaticJoint(java.lang.String jointName,
RigidBody parentBody,
javax.vecmath.Vector3d jointOffset,
javax.vecmath.Vector3d jointAxis)
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static RevoluteJoint |
ScrewTools.addRevoluteJoint(java.lang.String jointName,
RigidBody parentBody,
javax.media.j3d.Transform3D transformToParent,
javax.vecmath.Vector3d jointAxis)
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static RevoluteJoint |
ScrewTools.addRevoluteJoint(java.lang.String jointName,
RigidBody parentBody,
javax.vecmath.Vector3d jointOffset,
javax.vecmath.Vector3d jointAxis)
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static FrameVector |
CenterOfMassJacobianTest.computeCenterOfMassVelocityNumerically(SixDoFJoint sixDoFJoint,
java.util.ArrayList<RevoluteJoint> revoluteJoints,
RigidBody rootBody,
RigidBody[] rigidBodiesToUse,
ReferenceFrame referenceFrame)
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static FrameVector |
CenterOfMassJacobianTest.computeCenterOfMassVelocityNumerically(SixDoFJoint sixDoFJoint,
java.util.ArrayList<RevoluteJoint> revoluteJoints,
RigidBody rootBody,
RigidBody[] rigidBodiesToUse,
ReferenceFrame referenceFrame)
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static Momentum |
CentroidalMomentumMatrixTest.computeCoMMomentum(RigidBody elevator,
ReferenceFrame centerOfMassFrame,
CentroidalMomentumMatrix centroidalMomentumMatrix)
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static int |
ScrewTools.computeDistanceToAncestor(RigidBody descendant,
RigidBody ancestor)
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static InverseDynamicsJoint[] |
ScrewTools.computeJointsInOrder(RigidBody rootBody)
Deprecated. |
static InverseDynamicsJoint[] |
ScrewTools.computeJointsInOrder(RigidBody rootBody,
java.util.Set<InverseDynamicsJoint> excludeSubTrees)
Deprecated. |
static double |
TotalMassCalculator.computeMass(RigidBody[] rigidBodies)
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static RigidBody[] |
ScrewTools.computeRigidBodiesInOrder(RigidBody rootBody,
java.util.Set<RigidBody> excludeSubTrees)
Deprecated. |
static InverseDynamicsJoint[] |
ScrewTools.computeSubtreeJoints(RigidBody... rootBodies)
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static double |
TotalMassCalculator.computeSubTreeMass(RigidBody rootBody)
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static InverseDynamicsJoint[] |
ScrewTools.computeSupportAndSubtreeJoints(RigidBody... bodies)
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static RigidBody[] |
ScrewTools.computeSupportAndSubtreeSuccessors(RigidBody... bodies)
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static InverseDynamicsJoint[] |
ScrewTools.computeSupportJoints(RigidBody... bodies)
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static SpatialAccelerationVector |
ScrewTools.createGravitationalSpatialAcceleration(RigidBody rootBody,
double gravity)
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static InverseDynamicsJoint[] |
ScrewTools.createJointPath(RigidBody start,
RigidBody end)
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static int[] |
ScrewTools.createParentMap(RigidBody[] rigidBodiesInOrder)
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static void |
ScrewTestTools.createRandomChainRobot(java.lang.String prefix,
java.util.List<RevoluteJoint> joints,
RigidBody rootBody,
javax.vecmath.Vector3d[] jointAxes,
java.util.Random random)
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static double |
TotalMassCalculatorTest.createRandomRigidBodyTreeAndReturnTotalMass(ReferenceFrame worldFrame,
RigidBody elevator,
int numberOfJoints,
java.util.Random random)
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static void |
ScrewTestTools.createRandomTreeRobot(java.util.List<RevoluteJoint> joints,
RigidBody rootBody,
int numberOfJoints,
java.util.Random random)
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static void |
InverseDynamicsCalculatorTest.createRandomTreeRobotAndSetJointPositionsAndVelocities(Robot robot,
java.util.HashMap<RevoluteJoint,PinJoint> jointMap,
ReferenceFrame worldFrame,
RigidBody elevator,
int numberOfJoints,
double gravity,
boolean useRandomVelocity,
boolean useRandomAcceleration,
java.util.Random random)
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static RigidBody[] |
ScrewTools.findRigidBodiesWithNames(RigidBody[] allBodies,
java.lang.String... names)
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static RigidBody |
ScrewTools.getRootBody(RigidBody body)
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static boolean |
ScrewTools.isAncestor(RigidBody candidateDescendant,
RigidBody ancestor)
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void |
SpatialAccelerationCalculator.packAccelerationOfBody(SpatialAccelerationVector spatialAccelerationToPack,
RigidBody rigidBody)
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void |
SpatialAccelerationCalculator.packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
RigidBody body,
FramePoint bodyFixedPoint)
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void |
SpatialAccelerationCalculator.packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
RigidBody base,
RigidBody body,
FramePoint bodyFixedPoint)
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void |
SpatialAccelerationCalculator.packRelativeAcceleration(SpatialAccelerationVector endEffectorAcceleration,
RigidBody base,
RigidBody body)
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void |
TwistCalculator.packRelativeTwist(Twist twistToPack,
RigidBody base,
RigidBody body)
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void |
TwistCalculator.packTwistOfBody(Twist twistToPack,
RigidBody rigidBody)
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void |
InverseDynamicsCalculator.setExternalWrench(RigidBody rigidBody,
Wrench externalWrench)
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void |
SphericalJoint.setSuccessor(RigidBody successor)
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void |
SixDoFJoint.setSuccessor(RigidBody successor)
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void |
RevoluteJoint.setSuccessor(RigidBody successor)
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void |
PrismaticJoint.setSuccessor(RigidBody successor)
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void |
PlanarJoint.setSuccessor(RigidBody successor)
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void |
InverseDynamicsJoint.setSuccessor(RigidBody successor)
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Constructors in us.ihmc.utilities.screwTheory with parameters of type RigidBody |
AbstractInverseDynamicsCopier(RigidBody originalBody,
RigidBody targetBody)
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AbstractInverseDynamicsJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
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AfterJointReferenceFrameNameMap(RigidBody base)
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CenterOfMassAccelerationCalculator(RigidBody base,
RigidBody[] rigidBodies,
SpatialAccelerationCalculator spatialAccelerationCalculator)
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CenterOfMassAccelerationCalculator(RigidBody base,
RigidBody[] rigidBodies,
SpatialAccelerationCalculator spatialAccelerationCalculator)
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CenterOfMassAccelerationCalculator(RigidBody rootBody,
SpatialAccelerationCalculator spatialAccelerationCalculator)
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CenterOfMassCalculator(RigidBody[] rigidBodies,
ReferenceFrame desiredFrame)
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CenterOfMassCalculator(RigidBody rootBody,
ReferenceFrame desiredFrame)
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CenterOfMassJacobian(RigidBody rootBody)
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CenterOfMassJacobian(RigidBody[] rigidBodies,
InverseDynamicsJoint[] joints,
ReferenceFrame rootFrame)
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CenterOfMassJacobian(RigidBody[] rigidBodies,
ReferenceFrame rootFrame)
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CentroidalMomentumMatrix(RigidBody rootBody,
ReferenceFrame centerOfMassFrame)
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CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
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DifferentialIDMassMatrixCalculator(ReferenceFrame inertialFrame,
RigidBody rootBody)
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GeometricJacobian(RigidBody ancestor,
RigidBody descendant,
ReferenceFrame jacobianFrame)
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InverseDynamicsJointDesiredAccelerationCopier(RigidBody originalBody,
RigidBody targetBody)
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InverseDynamicsJointStateCopier(RigidBody originalBody,
RigidBody targetBody)
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InverseDynamicsMechanismExplorer(RigidBody rootbody)
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OneDoFJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame,
OneDoFJointReferenceFrame afterJointFrame)
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OneDoFJoint(java.lang.String name,
RigidBody predecessor,
RigidBody successor,
ReferenceFrame beforeJointFrame,
OneDoFJointReferenceFrame afterJointFrame,
FrameVector jointAxis)
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PlanarJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
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PrismaticJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame,
FrameVector jointAxis)
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RevoluteJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame,
FrameVector jointAxis)
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SixDoFJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
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SpatialAccelerationCalculator(RigidBody body,
ReferenceFrame inertialFrame,
SpatialAccelerationVector rootAcceleration,
TwistCalculator twistCalculator,
boolean doVelocityTerms,
boolean useDesireds)
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SpatialAccelerationCalculator(RigidBody rootBody,
TwistCalculator twistCalculator,
double gravity,
boolean useDesireds)
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SphericalJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
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ThreeDoFAngularAccelerationCalculator(RigidBody base,
RigidBody endEffector)
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TwistCalculator(ReferenceFrame inertialFrame,
RigidBody body)
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