How to use

getTwistLinearPart

method

in

us.ihmc.robotDataLogger.jointState.SixDoFState

  @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);
  }
}

  @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);
  }
}