us.ihmc.utilities.screwTheory
Class AbstractInverseDynamicsJoint
java.lang.Object
us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
- All Implemented Interfaces:
- CommonJoint, InverseDynamicsJoint
- Direct Known Subclasses:
- OneDoFJoint, PlanarJoint, SixDoFJoint, SphericalJoint
public abstract class AbstractInverseDynamicsJoint
- extends java.lang.Object
- implements InverseDynamicsJoint
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Methods inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint |
getConfigurationMatrixSize, getDegreesOfFreedom, getFrameAfterJoint, packConfigurationMatrix, packDesiredAccelerationMatrix, packDesiredJointAcceleration, packJointAcceleration, packJointTwist, packTauMatrix, packVelocityMatrix, setConfiguration, setDesiredAcceleration, setDesiredAccelerationToZero, setJointPositionVelocityAndAcceleration, setQddDesired, setSuccessor, setTorqueFromWrench, setVelocity, updateMotionSubspace |
AbstractInverseDynamicsJoint
public AbstractInverseDynamicsJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
getFrameBeforeJoint
public final ReferenceFrame getFrameBeforeJoint()
- Specified by:
getFrameBeforeJoint
in interface InverseDynamicsJoint
getMotionSubspace
public final GeometricJacobian getMotionSubspace()
- Specified by:
getMotionSubspace
in interface InverseDynamicsJoint
getPredecessor
public final RigidBody getPredecessor()
- Specified by:
getPredecessor
in interface InverseDynamicsJoint
getSuccessor
public final RigidBody getSuccessor()
- Specified by:
getSuccessor
in interface InverseDynamicsJoint
getName
public final java.lang.String getName()
- Specified by:
getName
in interface InverseDynamicsJoint
updateFramesRecursively
public final void updateFramesRecursively()
- Specified by:
updateFramesRecursively
in interface InverseDynamicsJoint
packSuccessorTwist
public void packSuccessorTwist(Twist twistToPack)
- Specified by:
packSuccessorTwist
in interface InverseDynamicsJoint
packPredecessorTwist
public void packPredecessorTwist(Twist twistToPack)
- Specified by:
packPredecessorTwist
in interface InverseDynamicsJoint
packSuccessorAcceleration
public void packSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packSuccessorAcceleration
in interface InverseDynamicsJoint
packDesiredSuccessorAcceleration
public void packDesiredSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packDesiredSuccessorAcceleration
in interface InverseDynamicsJoint
packDesiredPredecessorAcceleration
public void packDesiredPredecessorAcceleration(SpatialAccelerationVector accelerationToPack)
- Specified by:
packDesiredPredecessorAcceleration
in interface InverseDynamicsJoint
getOffsetTransform3D
public javax.media.j3d.Transform3D getOffsetTransform3D()
- Specified by:
getOffsetTransform3D
in interface CommonJoint
getJointTransform3D
public javax.media.j3d.Transform3D getJointTransform3D()
- Specified by:
getJointTransform3D
in interface CommonJoint
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object