us.ihmc.utilities.screwTheory
Class PlanarJoint
java.lang.Object
us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint
us.ihmc.utilities.screwTheory.PlanarJoint
- All Implemented Interfaces:
- CommonJoint, InverseDynamicsJoint
public class PlanarJoint
- extends AbstractInverseDynamicsJoint
Methods inherited from class us.ihmc.utilities.screwTheory.AbstractInverseDynamicsJoint |
getFrameBeforeJoint, getJointTransform3D, getMotionSubspace, getName, getOffsetTransform3D, getPredecessor, getSuccessor, packDesiredPredecessorAcceleration, packDesiredSuccessorAcceleration, packPredecessorTwist, packSuccessorAcceleration, packSuccessorTwist, toString, updateFramesRecursively |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
PlanarJoint
public PlanarJoint(java.lang.String name,
RigidBody predecessor,
ReferenceFrame beforeJointFrame)
getFrameAfterJoint
public ReferenceFrame getFrameAfterJoint()
packJointTwist
public void packJointTwist(Twist twistToPack)
packJointAcceleration
public void packJointAcceleration(SpatialAccelerationVector accelerationToPack)
packDesiredJointAcceleration
public void packDesiredJointAcceleration(SpatialAccelerationVector jointAcceleration)
packTauMatrix
public void packTauMatrix(org.ejml.data.DenseMatrix64F matrix)
packVelocityMatrix
public void packVelocityMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
packDesiredAccelerationMatrix
public void packDesiredAccelerationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setDesiredAccelerationToZero
public void setDesiredAccelerationToZero()
setSuccessor
public void setSuccessor(RigidBody successor)
updateMotionSubspace
public void updateMotionSubspace()
setTorqueFromWrench
public void setTorqueFromWrench(Wrench jointWrench)
getDegreesOfFreedom
public int getDegreesOfFreedom()
setDesiredAcceleration
public void setDesiredAcceleration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setRotation
public void setRotation(double qRot)
setTranslation
public void setTranslation(FrameVector2d qTrans)
setRotationalVelocity
public void setRotationalVelocity(double qdRot)
setTranslationalVelocity
public void setTranslationalVelocity(FrameVector2d qdTrans)
setRotationalAcceleration
public void setRotationalAcceleration(double qddRot)
setTranslationalAcceleration
public void setTranslationalAcceleration(FrameVector2d qddTrans)
setDesiredRotationalAcceleration
public void setDesiredRotationalAcceleration(double qddRotDesired)
setDesiredTranslationalAcceleration
public void setDesiredTranslationalAcceleration(FrameVector2d qddTransDesired)
setTauRotation
public void setTauRotation(double tauRot)
setTauTranslation
public void setTauTranslation(FrameVector2d tauTrans)
getRotation
public double getRotation()
packTranslation
public void packTranslation(FrameVector2d vectorToPack)
getRotationalVelocity
public double getRotationalVelocity()
packTranslationalVelocity
public void packTranslationalVelocity(FrameVector2d vectorToPack)
getRotationalAcceleration
public double getRotationalAcceleration()
packTranslationalAcceleration
public void packTranslationalAcceleration(FrameVector2d vectorToPack)
getDesiredRotationalAcceleration
public double getDesiredRotationalAcceleration()
packDesiredTranslationalAcceleration
public void packDesiredTranslationalAcceleration(FrameVector2d vectorToPack)
getTauRotation
public double getTauRotation()
packTauTranslation
public void packTauTranslation(FrameVector2d vectorToPack)
packConfigurationMatrix
public void packConfigurationMatrix(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setConfiguration
public void setConfiguration(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
setVelocity
public void setVelocity(org.ejml.data.DenseMatrix64F matrix,
int rowStart)
getConfigurationMatrixSize
public int getConfigurationMatrixSize()
setJointPositionVelocityAndAcceleration
public void setJointPositionVelocityAndAcceleration(InverseDynamicsJoint originalJoint)
setQddDesired
public void setQddDesired(InverseDynamicsJoint originalJoint)