us.ihmc.utilities.screwTheory
Class SphericalJoint

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

public class SphericalJoint
extends AbstractInverseDynamicsJoint


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
SphericalJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
 
Method Summary
 int getConfigurationMatrixSize()
           
 int getDegreesOfFreedom()
           
 ReferenceFrame getFrameAfterJoint()
           
 void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointTorque(FrameVector jointTorqueToPack)
           
 void packJointTwist(Twist twistToPack)
           
 void packRotation(double[] yawPitchRoll)
           
 void packRotation(javax.vecmath.Matrix3d rotationToPack)
           
 void packRotation(javax.vecmath.Quat4d rotationToPack)
           
 void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
           
 void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setAcceleration(FrameVector jointAngularAcceleration)
           
 void setConfiguration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(FrameVector jointAngularAccelerationDesired)
           
 void setDesiredAccelerationToZero()
           
 void setJointAngularVelocity(FrameVector jointAngularVelocity)
           
 void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
           
 void setJointTorque(FrameVector jointTorque)
           
 void setQddDesired(InverseDynamicsJoint originalJoint)
           
 void setRotation(double yaw, double pitch, double roll)
           
 void setRotation(javax.vecmath.Matrix3d jointRotation)
           
 void setRotation(javax.vecmath.Quat4d jointRotation)
           
 void setSuccessor(RigidBody successor)
           
 void setTorqueFromWrench(Wrench jointWrench)
           
 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

SphericalJoint

public SphericalJoint(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 yaw,
                        double pitch,
                        double roll)

setRotation

public void setRotation(javax.vecmath.Quat4d jointRotation)

setRotation

public void setRotation(javax.vecmath.Matrix3d jointRotation)

setJointAngularVelocity

public void setJointAngularVelocity(FrameVector jointAngularVelocity)

setAcceleration

public void setAcceleration(FrameVector jointAngularAcceleration)

setDesiredAcceleration

public void setDesiredAcceleration(FrameVector jointAngularAccelerationDesired)

setJointTorque

public void setJointTorque(FrameVector jointTorque)

packRotation

public void packRotation(javax.vecmath.Quat4d rotationToPack)

packRotation

public void packRotation(javax.vecmath.Matrix3d rotationToPack)

packRotation

public void packRotation(double[] yawPitchRoll)

packJointTorque

public void packJointTorque(FrameVector jointTorqueToPack)

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)