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java.lang.Objectus.ihmc.utilities.screwTheory.SpatialMotionVector
us.ihmc.utilities.screwTheory.Twist
public class Twist
Field Summary |
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Fields inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVector |
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SIZE |
Constructor Summary | |
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Twist()
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Twist(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame)
Initiates the angular velocity and linear velocity to zero |
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Twist(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F twistMatrix)
Construct using a Matrix ([omega; v]) |
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Twist(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double[] twist)
Construct using a double array ([omega; v]) |
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Twist(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double angularVelocityMagnitude,
double linearVelocityMagnitude,
javax.vecmath.Vector3d axisOfRotation,
javax.vecmath.Vector3d offset)
Construct based on a screw representation of the twist |
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Twist(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearVelocity,
javax.vecmath.Vector3d angularVelocity)
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Twist(Twist other)
Copy constructor |
Method Summary | |
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void |
add(Twist other)
Adds another twist to this twist, after doing some reference frame checks. |
void |
changeBaseFrameNoRelativeTwist(ReferenceFrame newBaseFrame)
Changes the base frame, assuming there is no relative twist between the old base frame and the new base frame A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a) http://sites.google.com/site/vincentduindam/publications |
void |
changeBodyFrameNoRelativeTwist(ReferenceFrame newBodyFrame)
Changes the body frame, assuming there is no relative twist between the old body frame and the new body frame A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a) http://sites.google.com/site/vincentduindam/publications |
void |
changeFrame(ReferenceFrame newReferenceFrame)
Changes the reference frame in which this spatial motion vector is expressed See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (c) http://sites.google.com/site/vincentduindam/publications |
void |
checkAndSet(Twist other)
Sets this twist so that it is the same as another twist |
double |
dot(Wrench wrench)
Takes the dot product of this twist and a wrench, resulting in the (reference frame independent) instantaneous power. |
javax.vecmath.Vector3d |
getAngularVelocityInBaseFrame()
Returns the angular velocity of the body frame with respect to the base frame, expressed in the base frame. |
FrameVector |
getBodyOriginLinearVelocityInBaseFrame()
Returns the linear velocity of the body frame with respect to the base frame, expressed in the base frame. |
void |
packAngularVelocityInBaseFrame(javax.vecmath.Vector3d vectorToPack)
Packs the angular velocity of the body frame with respect to the base frame, expressed in the base frame. |
void |
packBodyOriginLinearPartInBaseFrame(FrameVector frameVectorToPack)
Packs a version of the linear velocity, rotated to the base frame. |
void |
packVelocityOfPointFixedInBodyFrame(FrameVector frameVectorToPack,
FramePoint pointFixedInBodyFrame)
Packs the linear velocity of a point that is fixed in bodyFrame but is expressed in baseFrame, with respect to baseFrame, expressed in expressedInFrame |
void |
set(Twist other)
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void |
setScrew(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double angularVelocityMagnitude,
double linearVelocityMagnitude,
javax.vecmath.Vector3d axisOfRotation,
javax.vecmath.Vector3d offset)
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void |
sub(Twist other)
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java.lang.String |
toString()
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Methods inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVector |
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checkReferenceFramesMatch, getAngularPartCopy, getBaseFrame, getBodyFrame, getExpressedInFrame, getLinearPartCopy, invert, limitAngularPartMagnitude, limitLinearPartMagnitude, normalize, packAngularPart, packAngularPart, packLinearPart, packLinearPart, packMatrix, scale, scaleAngularPart, scaleLinearPart, set, set, set, setAngularPart, setAngularPartX, setAngularPartY, setAngularPartZ, setLinearPart, setLinearPartX, setLinearPartY, setLinearPartZ, setToZero, setToZero, times, toMatrix |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public Twist()
public Twist(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame)
bodyFrame
- what we're specifying the twist ofbaseFrame
- with respect to what we're specifying the twistexpressedInFrame
- in which reference frame the twist is expressedpublic Twist(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearVelocity, javax.vecmath.Vector3d angularVelocity)
bodyFrame
- what we're specifying the twist ofbaseFrame
- with respect to what we're specifying the twistexpressedInFrame
- in which reference frame the twist is expressedlinearVelocity
- linear velocity part of the twistangularVelocity
- angular velocity part of the twistpublic Twist(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F twistMatrix)
public Twist(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double[] twist)
public Twist(Twist other)
public Twist(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double angularVelocityMagnitude, double linearVelocityMagnitude, javax.vecmath.Vector3d axisOfRotation, javax.vecmath.Vector3d offset)
bodyFrame
- what we're specifying the twist ofbaseFrame
- with respect to what we're specifying the twistexpressedInFrame
- in which reference frame the twist is expressedangularVelocityMagnitude
- magnitude of angular velocity about axisOfRotationlinearVelocityMagnitude
- magnitude of linear velocity in the direction of axisOfRotationaxisOfRotation
- axis of rotationoffset
- any vector from the origin of expressedInFrame to axisOfRotationMethod Detail |
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public void checkAndSet(Twist other)
public void packAngularVelocityInBaseFrame(javax.vecmath.Vector3d vectorToPack)
public void packBodyOriginLinearPartInBaseFrame(FrameVector frameVectorToPack)
public void packVelocityOfPointFixedInBodyFrame(FrameVector frameVectorToPack, FramePoint pointFixedInBodyFrame)
public javax.vecmath.Vector3d getAngularVelocityInBaseFrame()
public FrameVector getBodyOriginLinearVelocityInBaseFrame()
public void changeBodyFrameNoRelativeTwist(ReferenceFrame newBodyFrame)
public void changeBaseFrameNoRelativeTwist(ReferenceFrame newBaseFrame)
public void changeFrame(ReferenceFrame newReferenceFrame)
public void add(Twist other)
public void sub(Twist other)
public double dot(Wrench wrench)
wrench
- a wrench that
1) has an 'onWhat' reference frame that is the same as this twist's 'bodyFrame' reference frame.
2) is expressed in the same reference frame as this twist
public void set(Twist other)
public void setScrew(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double angularVelocityMagnitude, double linearVelocityMagnitude, javax.vecmath.Vector3d axisOfRotation, javax.vecmath.Vector3d offset)
public java.lang.String toString()
toString
in class SpatialMotionVector
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