us.ihmc.utilities.screwTheory
Class PlanarJoint

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
      extended by us.ihmc.utilities.screwTheory.PlanarJoint
All Implemented Interfaces:
CommonJoint, InverseDynamicsJoint

public class PlanarJoint
extends AbstractInverseDynamicsJoint


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
PlanarJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
 
Method Summary
 int getConfigurationMatrixSize()
           
 int getDegreesOfFreedom()
           
 double getDesiredRotationalAcceleration()
           
 ReferenceFrame getFrameAfterJoint()
           
 double getRotation()
           
 double getRotationalAcceleration()
           
 double getRotationalVelocity()
           
 double getTauRotation()
           
 void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packDesiredTranslationalAcceleration(FrameVector2d vectorToPack)
           
 void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointTwist(Twist twistToPack)
           
 void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
           
 void packTauTranslation(FrameVector2d vectorToPack)
           
 void packTranslation(FrameVector2d vectorToPack)
           
 void packTranslationalAcceleration(FrameVector2d vectorToPack)
           
 void packTranslationalVelocity(FrameVector2d vectorToPack)
           
 void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setConfiguration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAccelerationToZero()
           
 void setDesiredRotationalAcceleration(double qddRotDesired)
           
 void setDesiredTranslationalAcceleration(FrameVector2d qddTransDesired)
           
 void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
           
 void setQddDesired(InverseDynamicsJoint originalJoint)
           
 void setRotation(double qRot)
           
 void setRotationalAcceleration(double qddRot)
           
 void setRotationalVelocity(double qdRot)
           
 void setSuccessor(RigidBody successor)
           
 void setTauRotation(double tauRot)
           
 void setTauTranslation(FrameVector2d tauTrans)
           
 void setTorqueFromWrench(Wrench jointWrench)
           
 void setTranslation(FrameVector2d qTrans)
           
 void setTranslationalAcceleration(FrameVector2d qddTrans)
           
 void setTranslationalVelocity(FrameVector2d qdTrans)
           
 void setVelocity(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 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
 

Constructor Detail

PlanarJoint

public PlanarJoint(java.lang.String name,
                   RigidBody predecessor,
                   ReferenceFrame beforeJointFrame)
Method Detail

getFrameAfterJoint

public ReferenceFrame getFrameAfterJoint()

packJointTwist

public void packJointTwist(Twist twistToPack)

packJointAcceleration

public void packJointAcceleration(SpatialAccelerationVector accelerationToPack)

packDesiredJointAcceleration

public void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)

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)

updateMotionSubspace

public void updateMotionSubspace()

setTorqueFromWrench

public void setTorqueFromWrench(Wrench jointWrench)

getDegreesOfFreedom

public int getDegreesOfFreedom()

setDesiredAcceleration

public void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
                                   int rowStart)

setRotation

public void setRotation(double qRot)

setTranslation

public void setTranslation(FrameVector2d qTrans)

setRotationalVelocity

public void setRotationalVelocity(double qdRot)

setTranslationalVelocity

public void setTranslationalVelocity(FrameVector2d qdTrans)

setRotationalAcceleration

public void setRotationalAcceleration(double qddRot)

setTranslationalAcceleration

public void setTranslationalAcceleration(FrameVector2d qddTrans)

setDesiredRotationalAcceleration

public void setDesiredRotationalAcceleration(double qddRotDesired)

setDesiredTranslationalAcceleration

public void setDesiredTranslationalAcceleration(FrameVector2d qddTransDesired)

setTauRotation

public void setTauRotation(double tauRot)

setTauTranslation

public void setTauTranslation(FrameVector2d tauTrans)

getRotation

public double getRotation()

packTranslation

public void packTranslation(FrameVector2d vectorToPack)

getRotationalVelocity

public double getRotationalVelocity()

packTranslationalVelocity

public void packTranslationalVelocity(FrameVector2d vectorToPack)

getRotationalAcceleration

public double getRotationalAcceleration()

packTranslationalAcceleration

public void packTranslationalAcceleration(FrameVector2d vectorToPack)

getDesiredRotationalAcceleration

public double getDesiredRotationalAcceleration()

packDesiredTranslationalAcceleration

public void packDesiredTranslationalAcceleration(FrameVector2d vectorToPack)

getTauRotation

public double getTauRotation()

packTauTranslation

public void packTauTranslation(FrameVector2d vectorToPack)

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)