us.ihmc.utilities.screwTheory
Class ScrewTestTools

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.ScrewTestTools

public class ScrewTestTools
extends java.lang.Object


Nested Class Summary
static class ScrewTestTools.RandomFloatingChain
           
 
Constructor Summary
ScrewTestTools()
           
 
Method Summary
static RigidBody addRandomRigidBody(java.lang.String name, java.util.Random random, InverseDynamicsJoint joint)
           
static void copyDesiredAccelerationsToActual(java.lang.Iterable<? extends OneDoFJoint> joints)
           
static void copyDesiredAccelerationToActual(SixDoFJoint rootJoint)
           
static void createRandomChainRobot(java.lang.String prefix, java.util.List<RevoluteJoint> joints, RigidBody rootBody, javax.vecmath.Vector3d[] jointAxes, java.util.Random random)
           
static void createRandomTreeRobot(java.util.List<RevoluteJoint> joints, RigidBody rootBody, int numberOfJoints, java.util.Random random)
           
static void integrate(javax.vecmath.Matrix3d rotationToPack, javax.vecmath.Tuple3d positionToPack, double dt, Twist twist)
           
static void integrateAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints, double dt)
           
static void integrateAccelerations(SixDoFJoint rootJoint, double dt)
           
static void integrateVelocities(java.lang.Iterable<? extends OneDoFJoint> joints, double dt)
           
static void integrateVelocities(SixDoFJoint sixDoFJoint, double dt)
           
static void integrateVelocity(OneDoFJoint joint, double dt)
           
static void setRandomAcceleration(SixDoFJoint rootJoint, java.util.Random random)
           
static void setRandomAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints, java.util.Random random)
           
static void setRandomAccelerations(OneDoFJoint[] joints, java.util.Random random)
           
static void setRandomDesiredAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints, java.util.Random random)
           
static void setRandomDesiredAccelerations(OneDoFJoint[] joints, java.util.Random random)
           
static void setRandomPosition(OneDoFJoint joint, java.util.Random random)
           
static void setRandomPositionAndOrientation(SixDoFJoint rootJoint, java.util.Random random)
           
static void setRandomPositions(java.lang.Iterable<? extends OneDoFJoint> joints, java.util.Random random)
           
static void setRandomPositions(OneDoFJoint[] joints, java.util.Random random)
           
static void setRandomVelocities(InverseDynamicsJoint[] joints, java.util.Random random)
           
static void setRandomVelocities(java.lang.Iterable<? extends OneDoFJoint> joints, java.util.Random random)
           
static void setRandomVelocities(OneDoFJoint[] joints, java.util.Random random)
           
static void setRandomVelocity(OneDoFJoint joint, java.util.Random random)
           
static void setRandomVelocity(SixDoFJoint rootJoint, java.util.Random random)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ScrewTestTools

public ScrewTestTools()
Method Detail

createRandomChainRobot

public static void createRandomChainRobot(java.lang.String prefix,
                                          java.util.List<RevoluteJoint> joints,
                                          RigidBody rootBody,
                                          javax.vecmath.Vector3d[] jointAxes,
                                          java.util.Random random)

createRandomTreeRobot

public static void createRandomTreeRobot(java.util.List<RevoluteJoint> joints,
                                         RigidBody rootBody,
                                         int numberOfJoints,
                                         java.util.Random random)

addRandomRigidBody

public static RigidBody addRandomRigidBody(java.lang.String name,
                                           java.util.Random random,
                                           InverseDynamicsJoint joint)

setRandomPositions

public static void setRandomPositions(OneDoFJoint[] joints,
                                      java.util.Random random)

setRandomPosition

public static void setRandomPosition(OneDoFJoint joint,
                                     java.util.Random random)

setRandomVelocities

public static void setRandomVelocities(OneDoFJoint[] joints,
                                       java.util.Random random)

setRandomVelocity

public static void setRandomVelocity(OneDoFJoint joint,
                                     java.util.Random random)

setRandomDesiredAccelerations

public static void setRandomDesiredAccelerations(OneDoFJoint[] joints,
                                                 java.util.Random random)

setRandomAccelerations

public static void setRandomAccelerations(OneDoFJoint[] joints,
                                          java.util.Random random)

setRandomPositions

public static void setRandomPositions(java.lang.Iterable<? extends OneDoFJoint> joints,
                                      java.util.Random random)

setRandomVelocities

public static void setRandomVelocities(java.lang.Iterable<? extends OneDoFJoint> joints,
                                       java.util.Random random)

setRandomDesiredAccelerations

public static void setRandomDesiredAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints,
                                                 java.util.Random random)

setRandomAccelerations

public static void setRandomAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints,
                                          java.util.Random random)

integrateVelocity

public static void integrateVelocity(OneDoFJoint joint,
                                     double dt)

integrateVelocities

public static void integrateVelocities(SixDoFJoint sixDoFJoint,
                                       double dt)

integrate

public static void integrate(javax.vecmath.Matrix3d rotationToPack,
                             javax.vecmath.Tuple3d positionToPack,
                             double dt,
                             Twist twist)

integrateVelocities

public static void integrateVelocities(java.lang.Iterable<? extends OneDoFJoint> joints,
                                       double dt)

setRandomPositionAndOrientation

public static void setRandomPositionAndOrientation(SixDoFJoint rootJoint,
                                                   java.util.Random random)

setRandomVelocity

public static void setRandomVelocity(SixDoFJoint rootJoint,
                                     java.util.Random random)

setRandomAcceleration

public static void setRandomAcceleration(SixDoFJoint rootJoint,
                                         java.util.Random random)

copyDesiredAccelerationToActual

public static void copyDesiredAccelerationToActual(SixDoFJoint rootJoint)

copyDesiredAccelerationsToActual

public static void copyDesiredAccelerationsToActual(java.lang.Iterable<? extends OneDoFJoint> joints)

integrateAccelerations

public static void integrateAccelerations(SixDoFJoint rootJoint,
                                          double dt)

integrateAccelerations

public static void integrateAccelerations(java.lang.Iterable<? extends OneDoFJoint> joints,
                                          double dt)

setRandomVelocities

public static void setRandomVelocities(InverseDynamicsJoint[] joints,
                                       java.util.Random random)