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Packages that use Twist | |
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us.ihmc.utilities.screwTheory |
Uses of Twist in us.ihmc.utilities.screwTheory |
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Methods in us.ihmc.utilities.screwTheory with parameters of type Twist | |
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void |
Twist.add(Twist other)
Adds another twist to this twist, after doing some reference frame checks. |
void |
SpatialAccelerationVector.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 |
Twist.checkAndSet(Twist other)
Sets this twist so that it is the same as another twist |
void |
Momentum.compute(GeneralizedRigidBodyInertia inertia,
Twist twist)
Sets this momentum to inertia * twist |
void |
RigidBodyInertia.computeDynamicWrenchInBodyCoordinates(Wrench dynamicWrench,
SpatialAccelerationVector acceleration,
Twist twist)
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double |
RigidBodyInertia.computeKineticCoEnergy(Twist twist)
Computes the kinetic co-energy of the rigid body to which this inertia belongs twistTranspose * Inertia * twist See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 40, eq. |
double |
Momentum.computeKineticCoEnergy(Twist twist)
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double |
Wrench.dot(Twist twist)
Takes the dot product of this wrench and a twist, resulting in the (reference frame independent) instantaneous power. |
static void |
ScrewTestTools.integrate(javax.vecmath.Matrix3d rotationToPack,
javax.vecmath.Tuple3d positionToPack,
double dt,
Twist twist)
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void |
SpatialAccelerationVector.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 |
SphericalJoint.packJointTwist(Twist twistToPack)
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void |
SixDoFJoint.packJointTwist(Twist twistToPack)
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void |
PlanarJoint.packJointTwist(Twist twistToPack)
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void |
OneDoFJoint.packJointTwist(Twist twistToPack)
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void |
InverseDynamicsJoint.packJointTwist(Twist twistToPack)
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void |
OneDoFJoint.packPredecessorTwist(Twist twistToPack)
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void |
InverseDynamicsJoint.packPredecessorTwist(Twist twistToPack)
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void |
AbstractInverseDynamicsJoint.packPredecessorTwist(Twist twistToPack)
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void |
TwistCalculator.packRelativeTwist(Twist twistToPack,
RigidBody base,
RigidBody body)
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void |
OneDoFJoint.packSuccessorTwist(Twist twistToPack)
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void |
InverseDynamicsJoint.packSuccessorTwist(Twist twistToPack)
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void |
AbstractInverseDynamicsJoint.packSuccessorTwist(Twist twistToPack)
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void |
GeometricJacobian.packTwist(Twist twistToPack,
org.ejml.data.DenseMatrix64F jointVelocities)
packs the twist that corresponds to the given joint velocity vector |
void |
TwistCalculator.packTwistOfBody(Twist twistToPack,
RigidBody rigidBody)
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void |
OneDoFJoint.packUnitJointTwist(Twist twistToPack)
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void |
Twist.set(Twist other)
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void |
SpatialAccelerationVector.setBasedOnOriginAcceleration(FrameVector angularAcceleration,
FrameVector originAcceleration,
Twist twistOfBodyWithRespectToBase)
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void |
SixDoFJoint.setJointTwist(Twist jointTwist)
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void |
Twist.sub(Twist other)
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Constructors in us.ihmc.utilities.screwTheory with parameters of type Twist | |
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Twist(Twist other)
Copy constructor |
Constructor parameters in us.ihmc.utilities.screwTheory with type arguments of type Twist | |
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GeometricJacobian(InverseDynamicsJoint joint,
java.util.List<Twist> unitTwists,
ReferenceFrame jacobianFrame)
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