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java.lang.Objectus.ihmc.utilities.screwTheory.SpatialMotionVector
public abstract class SpatialMotionVector
Field Summary | |
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static int |
SIZE
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Constructor Summary | |
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SpatialMotionVector()
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SpatialMotionVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame)
Initiates the angular velocity and linear velocity to zero |
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SpatialMotionVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
Construct using a Matrix ([angular; linear]) |
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SpatialMotionVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double[] array)
Construct using a double array ([angular; linear]) |
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SpatialMotionVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
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Method Summary | |
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void |
checkReferenceFramesMatch(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame)
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javax.vecmath.Vector3d |
getAngularPartCopy()
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ReferenceFrame |
getBaseFrame()
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ReferenceFrame |
getBodyFrame()
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ReferenceFrame |
getExpressedInFrame()
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javax.vecmath.Vector3d |
getLinearPartCopy()
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void |
invert()
Inverts the spatial motion vector, i.e.: Given the spatial motion of frame A with respect to frame B, expressed in frame C, this method computes the spatial motion of frame B with respect to frame A, expressed in frame C (or vice versa), by just taking the additive inverse. |
void |
limitAngularPartMagnitude(double maximumMagnitude)
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void |
limitLinearPartMagnitude(double maximumMagnitude)
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void |
normalize()
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void |
packAngularPart(FrameVector vectorToPack)
Packs an existing FrameVector with the angular velocity part |
void |
packAngularPart(javax.vecmath.Vector3d vectorToPack)
Packs an existing Vector3d with the angular velocity part |
void |
packLinearPart(FrameVector vectorToPack)
Packs an existing FrameVector with the linear velocity part |
void |
packLinearPart(javax.vecmath.Vector3d vectorToPack)
Packs an existing Vector3d with the linear velocity part |
void |
packMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
Packs an existing matrix based on this spatial motion vector ([angular part; linear part]). |
void |
scale(double scalar)
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void |
scaleAngularPart(double scalar)
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void |
scaleLinearPart(double scalar)
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void |
set(org.ejml.data.DenseMatrix64F matrix)
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void |
set(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix,
int rowStart)
Sets this spatial motion vector based on a matrix ([angular part; linear part]). |
void |
set(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
Sets this spatial motion vector based |
void |
setAngularPart(javax.vecmath.Vector3d newAngularVelocity)
Sets the angular velocity part of the spatial motion vector |
void |
setAngularPartX(double val)
Sets the X coordinate of the angular velocity part of the spatial motion vector |
void |
setAngularPartY(double val)
Sets the Y coordinate of the angular velocity part of the spatial motion vector |
void |
setAngularPartZ(double val)
Sets the Z coordinate of the angular velocity part of the spatial motion vector |
void |
setLinearPart(javax.vecmath.Vector3d newLinearVelocity)
Sets the linear velocity part of the spatial motion vector |
void |
setLinearPartX(double val)
Sets the X coordinate of the linear velocity part of the spatial motion vector |
void |
setLinearPartY(double val)
Sets the Y coordinate of the linear velocity part of the spatial motion vector |
void |
setLinearPartZ(double val)
Sets the Z coordinate of the linear velocity part of the spatial motion vector |
void |
setToZero()
Sets both the angular and the linear part to zero |
void |
setToZero(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame)
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void |
times(double scalar)
Multiplies this spatial motion vector by a scalar |
org.ejml.data.DenseMatrix64F |
toMatrix()
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java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public static final int SIZE
Constructor Detail |
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public SpatialMotionVector()
public SpatialMotionVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame)
bodyFrame
- what we're specifying the motion ofbaseFrame
- with respect to what we're specifying the motionexpressedInFrame
- in which reference frame the motion is expressedpublic SpatialMotionVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
bodyFrame
- what we're specifying the motion ofbaseFrame
- with respect to what we're specifying the motionexpressedInFrame
- in which reference frame the motion is expressedlinearPart
- linear part of the spatial motion vectorangularPart
- angular part of the spatial motion vectorpublic SpatialMotionVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
public SpatialMotionVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double[] array)
Method Detail |
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public ReferenceFrame getBodyFrame()
public ReferenceFrame getBaseFrame()
public ReferenceFrame getExpressedInFrame()
public void setAngularPart(javax.vecmath.Vector3d newAngularVelocity)
public void setAngularPartX(double val)
public void setAngularPartY(double val)
public void setAngularPartZ(double val)
public void setLinearPartX(double val)
public void setLinearPartY(double val)
public void setLinearPartZ(double val)
public void setLinearPart(javax.vecmath.Vector3d newLinearVelocity)
public void setToZero()
public void set(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix, int rowStart)
matrix
- public void set(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
public void set(org.ejml.data.DenseMatrix64F matrix)
public void setToZero(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame)
public javax.vecmath.Vector3d getAngularPartCopy()
public javax.vecmath.Vector3d getLinearPartCopy()
public org.ejml.data.DenseMatrix64F toMatrix()
public void packMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
matrix
- matrix to packpublic void packAngularPart(javax.vecmath.Vector3d vectorToPack)
public void packLinearPart(javax.vecmath.Vector3d vectorToPack)
public void limitLinearPartMagnitude(double maximumMagnitude)
public void limitAngularPartMagnitude(double maximumMagnitude)
public void packAngularPart(FrameVector vectorToPack)
public void packLinearPart(FrameVector vectorToPack)
public void times(double scalar)
scalar
- the scaling factorpublic void invert()
public void scale(double scalar)
public void scaleLinearPart(double scalar)
public void scaleAngularPart(double scalar)
public void normalize()
public void checkReferenceFramesMatch(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame)
public java.lang.String toString()
toString
in class java.lang.Object
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