public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBodyBasics parentBody, Vector3D jointOffset, Vector3D jointAxis, boolean isPartOfClosedKinematicLoop) { return addPassiveRevoluteJoint(jointName, parentBody, TransformTools.createTranslationTransform(jointOffset), jointAxis, isPartOfClosedKinematicLoop); }
public static RigidBodyTransform createTranslationTransform(double x, double y, double z) { return createTranslationTransform(new Vector3d(x, y, z)); }
public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBody parentBody, Vector3d jointOffset, Vector3d jointAxis, boolean isPartOfClosedKinematicLoop) { return addPassiveRevoluteJoint(jointName, parentBody, TransformTools.createTranslationTransform(jointOffset), jointAxis, isPartOfClosedKinematicLoop); }
public static RigidBodyTransform createTranslationTransform(double x, double y, double z) { return createTranslationTransform(new Vector3D(x, y, z)); }
public static PrismaticJoint addPrismaticJoint(String jointName, RigidBody parentBody, Vector3d jointOffset, Vector3d parentJointAxis) { return addPrismaticJoint(jointName, parentBody, TransformTools.createTranslationTransform(jointOffset), parentJointAxis); }
private Inertial createSDFInertial(Link scsLink) { Inertial sdfInertial = new Inertial(); sdfInertial.setInertia(createSDFInertia(scsLink)); sdfInertial.setMass(String.valueOf(scsLink.getMass())); RigidBodyTransform comOffsetInWorld = new RigidBodyTransform(); scsLink.getParentJoint().getTransformToWorld(comOffsetInWorld); Vector3D com = new Vector3D(); scsLink.getComOffset(com); RigidBodyTransform comOffset = TransformTools.createTranslationTransform(com); comOffsetInWorld.multiply(comOffset); sdfInertial.setPose(getPoseFromTransform3D(comOffsetInWorld)); return sdfInertial; }
private Inertial createSDFInertial(Link scsLink) { Inertial sdfInertial = new Inertial(); sdfInertial.setInertia(createSDFInertia(scsLink)); sdfInertial.setMass(String.valueOf(scsLink.getMass())); RigidBodyTransform comOffsetInWorld = new RigidBodyTransform(); scsLink.getParentJoint().getTransformToWorld(comOffsetInWorld); Vector3d com = new Vector3d(); scsLink.getComOffset(com); RigidBodyTransform comOffset = TransformTools.createTranslationTransform(com); comOffsetInWorld.multiply(comOffset); sdfInertial.setPose(getPoseFromTransform3D(comOffsetInWorld)); return sdfInertial; }
RigidBodyBasics rightFootBody = copyLinkAsRigidBody(r_foot, r_leg_akx, "r_foot"); RigidBodyTransform leftSoleToAnkleFrame = TransformTools.createTranslationTransform(footLength / 2.0 - footBack + toFootCenterX, toFootCenterY, -ankleHeight); RigidBodyTransform rightSoleToAnkleFrame = TransformTools.createTranslationTransform(footLength / 2.0 - footBack + toFootCenterX, -toFootCenterY, -ankleHeight); MovingReferenceFrame leftSoleFrame = MovingReferenceFrame.constructFrameFixedInParent("Left_Sole",