/** * Returns the implementation name of this joint and the joint name. */ @Override public String toString() { return getClass().getSimpleName() + " " + getName(); }
@Override public String toString() { return super.toString() + ", configuration: " + jointPose + ", velocity: " + jointTwist + ", acceleration: " + jointAcceleration + ", wrench" + jointWrench; } }
List<Joint> joints = floatingChain.getJoints(); RigidBodyBasics rootBody = MultiBodySystemTools.getRootBody(joints.get(0).getSuccessor()); RigidBodyBasics randomEndEffector = joints.get(randomEndEffectorIndex).getSuccessor(); GeometricJacobian rootJacobian = new GeometricJacobian(rootBody, randomEndEffector, randomEndEffector.getBodyFixedFrame()); rootJacobian.compute(); RigidBodyBasics randomBase = joints.get(random.nextInt(randomEndEffectorIndex + 1)).getPredecessor(); GeometricJacobian jacobian = new GeometricJacobian(randomBase, randomEndEffector, randomEndEffector.getBodyFixedFrame()); jacobian.compute();
List<RevoluteJoint> revoluteJointsInFuture = MultiBodySystemTools.filterJoints(jointsInFuture, RevoluteJoint.class); TwistCalculator twistCalculator = new TwistCalculator(worldFrame, joints.get(0).getPredecessor());
List<RevoluteJoint> revoluteJointsInFuture = MultiBodySystemTools.filterJoints(jointsInFuture, RevoluteJoint.class); TwistCalculator twistCalculator = new TwistCalculator(worldFrame, joints.get(random.nextInt(numberOfRevoluteJoints)).getPredecessor()); RigidBodyBasics base = joints.get(baseJointIndex).getSuccessor(); Twist actualRelativeTwist = new Twist(); twistCalculator.getRelativeTwist(base, body, actualRelativeTwist);
@Override public String toString() { String qAsString = String.format(EuclidCoreIOTools.DEFAULT_FORMAT, getQ()); String qdAsString = String.format(EuclidCoreIOTools.DEFAULT_FORMAT, getQd()); String qddAsString = String.format(EuclidCoreIOTools.DEFAULT_FORMAT, getQdd()); String tauAsString = String.format(EuclidCoreIOTools.DEFAULT_FORMAT, getTau()); return super.toString() + ", q: " + qAsString + ", qd: " + qdAsString + ", qdd: " + qddAsString + ", tau: " + tauAsString; } }
@Override public String toString() { return super.toString() + ", orientation: " + jointOrientation + ", velocity" + EuclidCoreIOTools.getTuple3DString(jointAngularVelocity) + ", acceleration: " + EuclidCoreIOTools.getTuple3DString(jointAngularAcceleration) + ", torque: " + EuclidCoreIOTools.getTuple3DString(jointTorque); } }