/** * Get time derivative of angle * @param j j * @return r */ //ODE_API public static double dJointGetUniversalAngle1Rate (DUniversalJoint j) { return j.getAngle1Rate(); }
/** * Get time derivative of angle * @param j j * @return r */ //ODE_API public static double dJointGetUniversalAngle1Rate (DUniversalJoint j) { return j.getAngle1Rate(); }
dampRotationalMotion (0.1); double a = jointUniversal.getAngle1(); double r = jointUniversal.getAngle1Rate(); double diff = a - last_angle_701; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle1(); double r = jointUniversal.getAngle1Rate(); double diff = a - last_angle_721; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle1(); double r = jointUniversal.getAngle1Rate(); double diff = a - last_angle_731; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle1(); double r = jointUniversal.getAngle1Rate(); double diff = a - last_angle_741; if (diff > M_PI) diff -= 2*M_PI;