us.ihmc.utilities.screwTheory
Class ScrewTestTools.RandomFloatingChain

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.ScrewTestTools.RandomFloatingChain
Enclosing class:
ScrewTestTools

public static class ScrewTestTools.RandomFloatingChain
extends java.lang.Object


Constructor Summary
ScrewTestTools.RandomFloatingChain(java.util.Random random, javax.vecmath.Vector3d[] jointAxes)
           
 
Method Summary
 RigidBody getElevator()
           
 RigidBody getLeafBody()
           
 java.util.List<RevoluteJoint> getRevoluteJoints()
           
 SixDoFJoint getRootJoint()
           
 void setRandomAccelerations(java.util.Random random)
           
 void setRandomPositionsAndVelocities(java.util.Random random)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ScrewTestTools.RandomFloatingChain

public ScrewTestTools.RandomFloatingChain(java.util.Random random,
                                          javax.vecmath.Vector3d[] jointAxes)
Method Detail

setRandomPositionsAndVelocities

public void setRandomPositionsAndVelocities(java.util.Random random)

setRandomAccelerations

public void setRandomAccelerations(java.util.Random random)

getElevator

public RigidBody getElevator()

getRootJoint

public SixDoFJoint getRootJoint()

getRevoluteJoints

public java.util.List<RevoluteJoint> getRevoluteJoints()

getLeafBody

public RigidBody getLeafBody()