- getFrameAfterJoint
- getName
Returns the reference to the name of this joint.
- getSuccessor
Returns the RigidBody that succeeds this joint. In other words, the RigidBody
directly connected to
- getPredecessor
Returns the RigidBody that precedes this joint. In other words, the RigidBody
directly connected to
- getConfigurationMatrix
Packs this joint's configuration into a column vector DenseMatrix64F. Here are a
few examples: * Fo
- getDegreesOfFreedom
Returns the number of degrees of freedom that this joint has.
- getFrameBeforeJoint
Returns the the ReferenceFrame that is attached to the predecessor of this
joint, namely the RigidBo
- setConfiguration
Sets the joint current configuration from the given column vector
DenseMatrix64F. Here are a few exa
- calculateJointStateChecksum
- getConfigurationMatrixSize
In most cases, this is the same as #getDegreesOfFreedom(). However, for
SixDoFJoint and SphericalJoi
- getDesiredAccelerationMatrix
Packs this joint desired acceleration into a column vector DenseMatrix64F. Here
are a few examples:
- getDesiredSuccessorAcceleration
Packs the SpatialAccelerationVector (the 3D angular and linear accelerations) of
this joint's succes