us.ihmc.utilities.screwTheory
Interface InverseDynamicsJoint
- All Superinterfaces:
- CommonJoint
- All Known Implementing Classes:
- AbstractInverseDynamicsJoint, OneDoFJoint, PlanarJoint, PrismaticJoint, RevoluteJoint, SixDoFJoint, SphericalJoint
public interface InverseDynamicsJoint
- extends CommonJoint
Field Summary |
static int |
maxDoF
|
maxDoF
static final int maxDoF
- See Also:
- Constant Field Values
getFrameBeforeJoint
ReferenceFrame getFrameBeforeJoint()
getFrameAfterJoint
ReferenceFrame getFrameAfterJoint()
packJointTwist
void packJointTwist(Twist twistToPack)
packSuccessorTwist
void packSuccessorTwist(Twist twistToPack)
packPredecessorTwist
void packPredecessorTwist(Twist twistToPack)
packJointAcceleration
void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
packSuccessorAcceleration
void packSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)
packDesiredJointAcceleration
void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
packDesiredSuccessorAcceleration
void packDesiredSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)
packDesiredPredecessorAcceleration
void packDesiredPredecessorAcceleration(SpatialAccelerationVector jointAcceleration)
packConfigurationMatrix
void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
packTauMatrix
void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
packVelocityMatrix
void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
packDesiredAccelerationMatrix
void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setDesiredAccelerationToZero
void setDesiredAccelerationToZero()
setConfiguration
void setConfiguration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setVelocity
void setVelocity(org.ejml.data.DenseMatrix64F jointVelocity,
int i)
setDesiredAcceleration
void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setSuccessor
void setSuccessor(RigidBody successor)
getMotionSubspace
GeometricJacobian getMotionSubspace()
updateMotionSubspace
void updateMotionSubspace()
getPredecessor
RigidBody getPredecessor()
getSuccessor
RigidBody getSuccessor()
setTorqueFromWrench
void setTorqueFromWrench(Wrench jointWrench)
getName
java.lang.String getName()
updateFramesRecursively
void updateFramesRecursively()
getDegreesOfFreedom
int getDegreesOfFreedom()
getConfigurationMatrixSize
int getConfigurationMatrixSize()
setJointPositionVelocityAndAcceleration
void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
setQddDesired
void setQddDesired(InverseDynamicsJoint originalJoint)