us.ihmc.utilities.screwTheory
Class AbstractInverseDynamicsJoint

java.lang.Object
  extended by 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


Field Summary
 
Fields inherited from interface us.ihmc.utilities.screwTheory.InverseDynamicsJoint
maxDoF
 
Constructor Summary
AbstractInverseDynamicsJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
 
Method Summary
 ReferenceFrame getFrameBeforeJoint()
           
 javax.media.j3d.Transform3D getJointTransform3D()
           
 GeometricJacobian getMotionSubspace()
           
 java.lang.String getName()
           
 javax.media.j3d.Transform3D getOffsetTransform3D()
           
 RigidBody getPredecessor()
           
 RigidBody getSuccessor()
           
 void packDesiredPredecessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packDesiredSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packPredecessorTwist(Twist twistToPack)
           
 void packSuccessorAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packSuccessorTwist(Twist twistToPack)
           
 java.lang.String toString()
           
 void updateFramesRecursively()
           
 
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
 

Constructor Detail

AbstractInverseDynamicsJoint

public AbstractInverseDynamicsJoint(java.lang.String name,
                                    RigidBody predecessor,
                                    ReferenceFrame beforeJointFrame)
Method Detail

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