- getDegreesOfFreedom
Returns the number of degrees of freedom that this joint has.
- getFrameAfterJoint
Returns the the MovingReferenceFrame that is attached to the successor of this
joint, namely the Rig
- getFrameBeforeJoint
Returns the the MovingReferenceFrame that is attached to the predecessor of this
joint, namely the R
- getConfigurationMatrixSize
In most cases, this is the same as #getDegreesOfFreedom(). However, for
SixDoFJoint and SphericalJoi
- getJointAcceleration
Packs this joint desired acceleration into a column vector DenseMatrix64F. Here
are a few examples:
- getJointConfiguration
Packs the configuration of this joint as a transform.
- getJointTau
Packs this joint desired force/torque into a column vector DenseMatrix64F. Here
are a few examples:
- getJointTwist
Gets the read-only reference to this joint twist (the 3D angular and linear
velocities). The referen
- getJointVelocity
Packs this joint actual velocity into a column vector DenseMatrix64F. Here are a
few examples: * For
- getName
Returns the reference to the name of this joint.
- getPredecessor
Returns the RigidBody that precedes this joint. In other words, the
RigidBodydirectly connected to t
- getPredecessorTwist
Packs the twist (the 3D angular and linear velocities) of this joint's
predecessorwith respect to th