How to use

SixDoFState

in

us.ihmc.robotDataLogger.jointState

  @Override
  public void update()
  {

   
   jointState.getRotation(rotationMatrix);
   jointState.getTranslation(tempVector);
   joint.setRotation(rotationMatrix);
   joint.setPosition(tempVector);

   
   jointState.getTwistAngularPart(tempVector);
   joint.setAngularVelocityInBody(tempVector);
   
   jointState.getTwistLinearPart(tempVector);
   joint.setVelocity(tempVector);
  }
}

public static JointState createJointState(String name, JointType type)
{
 switch (type)
 {
 case OneDoFJoint:
   return new OneDoFState(name);
 case SiXDoFJoint:
   return new SixDoFState(name);
 default:
   throw new RuntimeException("Unknown joint type" + type);
 }
}

public static JointState createJointState(String name, JointType type)
{
 switch (type)
 {
 case OneDoFJoint:
   return new OneDoFState(name);
 case SiXDoFJoint:
   return new SixDoFState(name);
 default:
   throw new RuntimeException("Unknown joint type" + type);
 }
}

  @Override
  public void update()
  {

   
   jointState.getRotation(rotationMatrix);
   jointState.getTranslation(tempVector);
   joint.setRotation(rotationMatrix);
   joint.setPosition(tempVector);

   
   jointState.getTwistAngularPart(tempVector);
   joint.setAngularVelocityInBody(tempVector);
   
   jointState.getTwistLinearPart(tempVector);
   joint.setVelocity(tempVector);
  }
}