us.ihmc.utilities.screwTheory
Interface InverseDynamicsJoint

All Superinterfaces:
CommonJoint
All Known Implementing Classes:
AbstractInverseDynamicsJoint, OneDoFJoint, PlanarJoint, PrismaticJoint, RevoluteJoint, SixDoFJoint, SphericalJoint

public interface InverseDynamicsJoint
extends CommonJoint


Field Summary
static int maxDoF
           
 
Method Summary
 int getConfigurationMatrixSize()
           
 int getDegreesOfFreedom()
           
 ReferenceFrame getFrameAfterJoint()
           
 ReferenceFrame getFrameBeforeJoint()
           
 GeometricJacobian getMotionSubspace()
           
 java.lang.String getName()
           
 RigidBody getPredecessor()
           
 RigidBody getSuccessor()
           
 void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packDesiredPredecessorAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packDesiredSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
           
 void packJointTwist(Twist twistToPack)
           
 void packPredecessorTwist(Twist twistToPack)
           
 void packSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)
           
 void packSuccessorTwist(Twist twistToPack)
           
 void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
           
 void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setConfiguration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix, int rowStart)
           
 void setDesiredAccelerationToZero()
           
 void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
           
 void setQddDesired(InverseDynamicsJoint originalJoint)
           
 void setSuccessor(RigidBody successor)
           
 void setTorqueFromWrench(Wrench jointWrench)
           
 void setVelocity(org.ejml.data.DenseMatrix64F jointVelocity, int i)
           
 void updateFramesRecursively()
           
 void updateMotionSubspace()
           
 
Methods inherited from interface us.ihmc.utilities.kinematics.CommonJoint
getJointTransform3D, getOffsetTransform3D
 

Field Detail

maxDoF

static final int maxDoF
See Also:
Constant Field Values
Method Detail

getFrameBeforeJoint

ReferenceFrame getFrameBeforeJoint()

getFrameAfterJoint

ReferenceFrame getFrameAfterJoint()

packJointTwist

void packJointTwist(Twist twistToPack)

packSuccessorTwist

void packSuccessorTwist(Twist twistToPack)

packPredecessorTwist

void packPredecessorTwist(Twist twistToPack)

packJointAcceleration

void packJointAcceleration(SpatialAccelerationVector accelerationToPack)

packSuccessorAcceleration

void packSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)

packDesiredJointAcceleration

void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)

packDesiredSuccessorAcceleration

void packDesiredSuccessorAcceleration(SpatialAccelerationVector jointAcceleration)

packDesiredPredecessorAcceleration

void packDesiredPredecessorAcceleration(SpatialAccelerationVector jointAcceleration)

packConfigurationMatrix

void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix,
                             int rowStart)

packTauMatrix

void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)

packVelocityMatrix

void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix,
                        int rowStart)

packDesiredAccelerationMatrix

void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix,
                                   int rowStart)

setDesiredAccelerationToZero

void setDesiredAccelerationToZero()

setConfiguration

void setConfiguration(org.ejml.data.DenseMatrix64F matrix,
                      int rowStart)

setVelocity

void setVelocity(org.ejml.data.DenseMatrix64F jointVelocity,
                 int i)

setDesiredAcceleration

void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
                            int rowStart)

setSuccessor

void setSuccessor(RigidBody successor)

getMotionSubspace

GeometricJacobian getMotionSubspace()

updateMotionSubspace

void updateMotionSubspace()

getPredecessor

RigidBody getPredecessor()

getSuccessor

RigidBody getSuccessor()

setTorqueFromWrench

void setTorqueFromWrench(Wrench jointWrench)

getName

java.lang.String getName()

updateFramesRecursively

void updateFramesRecursively()

getDegreesOfFreedom

int getDegreesOfFreedom()

getConfigurationMatrixSize

int getConfigurationMatrixSize()

setJointPositionVelocityAndAcceleration

void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)

setQddDesired

void setQddDesired(InverseDynamicsJoint originalJoint)