Uses of Class
us.ihmc.utilities.screwTheory.Wrench

Packages that use Wrench
us.ihmc.utilities.screwTheory   
 

Uses of Wrench in us.ihmc.utilities.screwTheory
 

Methods in us.ihmc.utilities.screwTheory that return Wrench
 Wrench InverseDynamicsCalculator.computeTotalExternalWrench(ReferenceFrame referenceFrame)
           
static Wrench TotalWrenchCalculator.computeTotalWrench(java.util.Collection<Wrench> wrenches, ReferenceFrame referenceFrame)
           
 

Methods in us.ihmc.utilities.screwTheory with parameters of type Wrench
 void Wrench.add(Wrench other)
          Adds another wrench to this one, after performing some reference frame checks.
 void Wrench.checkAndSet(Wrench other)
           
 void RigidBodyInertia.computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench, SpatialAccelerationVector acceleration, Twist twist)
           
 org.ejml.data.DenseMatrix64F GeometricJacobian.computeJointTorques(Wrench wrench)
          returns the joint torque vector that corresponds to the given wrench
 double Twist.dot(Wrench wrench)
          Takes the dot product of this twist and a wrench, resulting in the (reference frame independent) instantaneous power.
 void InverseDynamicsCalculator.getJointWrench(InverseDynamicsJoint joint, Wrench wrenchToPack)
           
 void SixDoFJoint.packWrench(Wrench wrenchToPack)
           
 void Wrench.set(Wrench other)
           
 void InverseDynamicsCalculator.setExternalWrench(RigidBody rigidBody, Wrench externalWrench)
           
 void SphericalJoint.setTorqueFromWrench(Wrench jointWrench)
           
 void SixDoFJoint.setTorqueFromWrench(Wrench jointWrench)
           
 void PlanarJoint.setTorqueFromWrench(Wrench jointWrench)
           
 void OneDoFJoint.setTorqueFromWrench(Wrench jointWrench)
           
 void InverseDynamicsJoint.setTorqueFromWrench(Wrench jointWrench)
           
 void SixDoFJoint.setWrench(Wrench jointWrench)
           
 void Wrench.sub(Wrench other)
          Subtracts another wrench from this one, after performing some reference frame checks.
 

Method parameters in us.ihmc.utilities.screwTheory with type arguments of type Wrench
static void ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches, java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
           
static void ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches, java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
           
static Wrench TotalWrenchCalculator.computeTotalWrench(java.util.Collection<Wrench> wrenches, ReferenceFrame referenceFrame)
           
 

Constructors in us.ihmc.utilities.screwTheory with parameters of type Wrench
Wrench(Wrench other)
          Copy constructor
 

Constructor parameters in us.ihmc.utilities.screwTheory with type arguments of type Wrench
InverseDynamicsCalculator(ReferenceFrame inertialFrame, java.util.HashMap<RigidBody,Wrench> externalWrenches, java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore, SpatialAccelerationCalculator spatialAccelerationCalculator, TwistCalculator twistCalculator)
           
InverseDynamicsCalculator(ReferenceFrame inertialFrame, SpatialAccelerationVector rootAcceleration, java.util.HashMap<RigidBody,Wrench> externalWrenches, java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore, boolean doVelocityTerms, boolean doAcceleration, TwistCalculator twistCalculator)