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