|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectus.ihmc.utilities.screwTheory.SpatialMotionVector
us.ihmc.utilities.screwTheory.SpatialAccelerationVector
public class SpatialAccelerationVector
Class represents the spatial acceleration of a rigid body. A spatial acceleration is the derivative of a Twist.
Field Summary |
---|
Fields inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVector |
---|
SIZE |
Constructor Summary | |
---|---|
SpatialAccelerationVector()
|
|
SpatialAccelerationVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame)
Initiates the angular velocity and linear velocity to zero |
|
SpatialAccelerationVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
Construct using a Matrix ([omegadot; a]) |
|
SpatialAccelerationVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double[] spatialAcceleration)
Construct using a double array ([omegadot; a]) |
|
SpatialAccelerationVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double angularVelocityMagnitude,
double angularAccelerationMagnitude,
double linearVelocityMagnitude,
double linearAccelerationMagnitude,
javax.vecmath.Vector3d axisOfRotation,
javax.vecmath.Vector3d axisOfRotationDot,
javax.vecmath.Vector3d offset,
javax.vecmath.Vector3d offsetDot)
Construct based on a screw representation of the twist |
|
SpatialAccelerationVector(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearAcceleration,
javax.vecmath.Vector3d angularAcceleration)
|
|
SpatialAccelerationVector(SpatialAccelerationVector other)
Copy constructor |
Method Summary | |
---|---|
void |
add(SpatialAccelerationVector other)
Adds another spatial acceleration to this spatial acceleration, after doing some reference frame checks. |
void |
changeBaseFrameNoRelativeAcceleration(ReferenceFrame newBaseFrame)
Changes the base frame, assuming there is no relative acceleration 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 |
changeBodyFrameNoRelativeAcceleration(ReferenceFrame newBodyFrame)
Changes the body frame, assuming there is no relative acceleration 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,
Twist twistOfCurrentWithRespectToNew,
Twist twistOfBodyWithRespectToBase)
Changes the reference frame in which this spatial acceleration vector is expressed See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25. |
void |
changeFrameNoRelativeMotion(ReferenceFrame newReferenceFrame)
Changes the reference frame in which this spatial motion vector is expressed, in case the new frame in which this acceleration should be expressed does not move with respect to the old one. |
void |
checkAndSet(SpatialAccelerationVector other)
Sets this spatial acceleration vector so that it is the same as another spatial acceleration vector |
void |
packAccelerationOfPointFixedInBodyFrame(Twist twist,
FramePoint pointFixedInBodyFrame,
FrameVector frameVectorToPack)
Packs the linear acceleration of a point that is fixed in bodyFrame but is expressed in baseFrame, with respect to baseFrame, expressed in expressedInFrame |
void |
set(SpatialAccelerationVector other)
|
void |
setBasedOnOriginAcceleration(FrameVector angularAcceleration,
FrameVector originAcceleration,
Twist twistOfBodyWithRespectToBase)
|
void |
setScrew(ReferenceFrame bodyFrame,
ReferenceFrame baseFrame,
ReferenceFrame expressedInFrame,
double angularVelocityMagnitude,
double angularAccelerationMagnitude,
double linearVelocityMagnitude,
double linearAccelerationMagnitude,
javax.vecmath.Vector3d axisOfRotation,
javax.vecmath.Vector3d axisOfRotationDot,
javax.vecmath.Vector3d offset,
javax.vecmath.Vector3d offsetDot)
|
void |
sub(SpatialAccelerationVector other)
|
java.lang.String |
toString()
|
Methods inherited from class us.ihmc.utilities.screwTheory.SpatialMotionVector |
---|
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 |
---|
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
---|
public SpatialAccelerationVector()
public SpatialAccelerationVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame)
bodyFrame
- what we're specifying the spatial acceleration ofbaseFrame
- with respect to what we're specifying the spatial accelerationexpressedInFrame
- in which reference frame the spatial acceleration is expressedpublic SpatialAccelerationVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearAcceleration, javax.vecmath.Vector3d angularAcceleration)
bodyFrame
- what we're specifying the spatial acceleration ofbaseFrame
- with respect to what we're specifying the spatial accelerationexpressedInFrame
- in which reference frame the spatial acceleration is expressedlinearAcceleration
- linear acceleration part of the spatial accelerationangularAcceleration
- angular velocity part of the spatial accelerationpublic SpatialAccelerationVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
public SpatialAccelerationVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double[] spatialAcceleration)
public SpatialAccelerationVector(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double angularVelocityMagnitude, double angularAccelerationMagnitude, double linearVelocityMagnitude, double linearAccelerationMagnitude, javax.vecmath.Vector3d axisOfRotation, javax.vecmath.Vector3d axisOfRotationDot, javax.vecmath.Vector3d offset, javax.vecmath.Vector3d offsetDot)
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 axisOfRotationpublic SpatialAccelerationVector(SpatialAccelerationVector other)
Method Detail |
---|
public void checkAndSet(SpatialAccelerationVector other)
public void changeBodyFrameNoRelativeAcceleration(ReferenceFrame newBodyFrame)
public void changeBaseFrameNoRelativeAcceleration(ReferenceFrame newBaseFrame)
public void changeFrame(ReferenceFrame newReferenceFrame, Twist twistOfCurrentWithRespectToNew, Twist twistOfBodyWithRespectToBase)
public void changeFrameNoRelativeMotion(ReferenceFrame newReferenceFrame)
public void add(SpatialAccelerationVector other)
public void sub(SpatialAccelerationVector other)
public void set(SpatialAccelerationVector other)
public void packAccelerationOfPointFixedInBodyFrame(Twist twist, FramePoint pointFixedInBodyFrame, FrameVector frameVectorToPack)
public void setBasedOnOriginAcceleration(FrameVector angularAcceleration, FrameVector originAcceleration, Twist twistOfBodyWithRespectToBase)
public void setScrew(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, ReferenceFrame expressedInFrame, double angularVelocityMagnitude, double angularAccelerationMagnitude, double linearVelocityMagnitude, double linearAccelerationMagnitude, javax.vecmath.Vector3d axisOfRotation, javax.vecmath.Vector3d axisOfRotationDot, javax.vecmath.Vector3d offset, javax.vecmath.Vector3d offsetDot)
public java.lang.String toString()
toString
in class SpatialMotionVector
|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |