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java.lang.Objectus.ihmc.utilities.screwTheory.SpatialForceVector
public class SpatialForceVector
Field Summary | |
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static java.lang.String[] |
AXIS_NAMES
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static int |
SIZE
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Constructor Summary | |
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SpatialForceVector()
Default constructor |
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SpatialForceVector(ReferenceFrame expressedInFrame)
Initializes the components of the spatial acceleration vector to zero |
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SpatialForceVector(ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
Construct using a Matrix ([angularPart; linearPart]) |
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SpatialForceVector(ReferenceFrame expressedInFrame,
double[] matrix)
Construct using a double array ([angularPart; linearPart]) |
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SpatialForceVector(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
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SpatialForceVector(SpatialForceVector other)
Copy constructor |
Method Summary | |
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void |
add(SpatialForceVector other)
Adds another spatial force vector to this one, after performing some reference frame checks. |
void |
addAngularPart(javax.vecmath.Vector3d angularPart)
Adds to the angular part of the spatial force vector |
void |
addLinearPart(javax.vecmath.Vector3d linearPart)
Adds to the force part of the spatial force vector |
void |
changeFrame(ReferenceFrame newReferenceFrame)
Changes the reference frame in which this spatial force vector is expressed See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 36, eq. |
void |
checkAndSet(SpatialForceVector other)
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static SpatialForceVector |
createUsingArm(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d arm)
Construct using linear part and arm |
FrameVector |
getAngularPartAsFrameVectorCopy()
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javax.vecmath.Vector3d |
getAngularPartCopy()
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ReferenceFrame |
getExpressedInFrame()
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FrameVector |
getLinearPartAsFrameVectorCopy()
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javax.vecmath.Vector3d |
getLinearPartCopy()
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void |
negate()
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void |
packAngularPart(FrameVector vectorToPack)
Packs an existing FrameVector with the angular part. |
void |
packAngularPart(javax.vecmath.Vector3d vectorToPack)
Packs an existing Vector3d with the angular part |
void |
packLinearPart(FrameVector vectorToPack)
Packs an existing FrameVector with the linear part. |
void |
packLinearPart(javax.vecmath.Vector3d vectorToPack)
Packs an existing Vector3d with the linear part |
void |
packMatrix(org.ejml.data.DenseMatrix64F matrix)
Packs a matrix |
void |
packMatrix(double[] matrix)
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void |
packMatrixColumn(org.ejml.data.DenseMatrix64F matrix,
int column)
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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(ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
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void |
set(ReferenceFrame expressedInFrame,
double[] doubleArray)
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void |
set(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
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void |
set(SpatialForceVector other)
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void |
setAngularPart(javax.vecmath.Vector3d angularPart)
Sets the angular part of the twist |
void |
setAngularPartX(double val)
Sets the X coordinate of the angular part of the spatial force vector |
void |
setAngularPartY(double val)
Sets the Y coordinate of the angular part of the spatial force vector |
void |
setAngularPartZ(double val)
Sets the Z coordinate of the angular part of the spatial force vector |
void |
setLinearPart(javax.vecmath.Vector3d linearPart)
Sets the linear part of the spatial force vector |
void |
setLinearPartX(double val)
Sets the X coordinate of the linear part of the spatial force vector |
void |
setLinearPartY(double val)
Sets the Y coordinate of the linear part of the spatial force vector |
void |
setLinearPartZ(double val)
Sets the Z coordinate of the linear part of the spatial force vector |
void |
setToZero()
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void |
setUsingArm(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d arm)
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void |
sub(SpatialForceVector other)
Subtracts another spatial force vector from this one, after performing some reference frame checks. |
void |
subAngularPart(javax.vecmath.Vector3d angularPart)
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void |
subLinearPart(javax.vecmath.Vector3d linearPart)
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void |
times(double scalar)
Multiplies this spatial force vector by a scalar |
org.ejml.data.DenseMatrix64F |
toDenseMatrix()
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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
public static final java.lang.String[] AXIS_NAMES
Constructor Detail |
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public SpatialForceVector()
public SpatialForceVector(ReferenceFrame expressedInFrame)
expressedInFrame
- the frame in which the spatial acceleration vector is expressedpublic SpatialForceVector(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
expressedInFrame
- the frame in which the spatial acceleration vector is expressedlinearPart
- linear part part of the spatial acceleration vectorangularPart
- angular part of the spatial acceleration vectorpublic SpatialForceVector(ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
public SpatialForceVector(ReferenceFrame expressedInFrame, double[] matrix)
public SpatialForceVector(SpatialForceVector other)
Method Detail |
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public static SpatialForceVector createUsingArm(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d arm)
public void setUsingArm(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d arm)
public ReferenceFrame getExpressedInFrame()
public void setAngularPart(javax.vecmath.Vector3d angularPart)
public void setLinearPart(javax.vecmath.Vector3d linearPart)
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 checkAndSet(SpatialForceVector other)
public void set(SpatialForceVector other)
public void add(SpatialForceVector other)
public void sub(SpatialForceVector other)
public void set(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
public void set(ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
public void set(ReferenceFrame expressedInFrame, double[] doubleArray)
public void addAngularPart(javax.vecmath.Vector3d angularPart)
public void subAngularPart(javax.vecmath.Vector3d angularPart)
public void addLinearPart(javax.vecmath.Vector3d linearPart)
public void subLinearPart(javax.vecmath.Vector3d linearPart)
public FrameVector getAngularPartAsFrameVectorCopy()
public FrameVector getLinearPartAsFrameVectorCopy()
public javax.vecmath.Vector3d getAngularPartCopy()
public javax.vecmath.Vector3d getLinearPartCopy()
public void packMatrix(org.ejml.data.DenseMatrix64F matrix)
matrix
- public void packMatrixColumn(org.ejml.data.DenseMatrix64F matrix, int column)
public org.ejml.data.DenseMatrix64F toDenseMatrix()
public void packAngularPart(javax.vecmath.Vector3d vectorToPack)
public void packAngularPart(FrameVector vectorToPack)
public void packLinearPart(javax.vecmath.Vector3d vectorToPack)
public void packLinearPart(FrameVector vectorToPack)
public void times(double scalar)
scalar
- the scaling factorpublic void changeFrame(ReferenceFrame newReferenceFrame)
public void scaleLinearPart(double scalar)
public void scaleAngularPart(double scalar)
public void scale(double scalar)
public void negate()
public java.lang.String toString()
toString
in class java.lang.Object
public void setToZero()
public void packMatrix(double[] matrix)
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