How to use
getDesiredAccelerationMatrix
method
in
us.ihmc.robotics.screwTheory.InverseDynamicsJoint

Best Java code snippets using us.ihmc.robotics.screwTheory.InverseDynamicsJoint.getDesiredAccelerationMatrix (Showing top 1 results out of 315)

public static void getDesiredJointAccelerationsMatrix(InverseDynamicsJoint[] joints, DenseMatrix64F desiredJointAccelerationsMatrixToPack)
{
 int rowStart = 0;
 for (InverseDynamicsJoint joint : joints)
 {
   int dof = joint.getDegreesOfFreedom();
   joint.getDesiredAccelerationMatrix(desiredJointAccelerationsMatrixToPack, rowStart);
   rowStart += dof;
 }
}

Javadoc

Packs this joint desired acceleration into a column vector DenseMatrix64F. Here are a few examples:

For a OneDoFJoint, the scalar acceleration qddDesired is stored at the rowStartth row.
For a SixDoFJoint, the joint desired spatial acceleration is stored from the rowStartth row to the ( rowStart + 6)th row, starting with the three components of the angular acceleration.

Popular methods of InverseDynamicsJoint

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
calculateJointDesiredChecksum
calculateJointStateChecksum
getConfigurationMatrixSize
In most cases, this is the same as #getDegreesOfFreedom(). However, for SixDoFJoint and SphericalJoi
getDesiredSuccessorAcceleration
Packs the SpatialAccelerationVector (the 3D angular and linear accelerations) of this joint's succes

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How to use getDesiredAccelerationMatrixmethodin us.ihmc.robotics.screwTheory.InverseDynamicsJoint

Best Java code snippets using us.ihmc.robotics.screwTheory.InverseDynamicsJoint.getDesiredAccelerationMatrix (Showing top 1 results out of 315)

How to use
getDesiredAccelerationMatrix
method
in
us.ihmc.robotics.screwTheory.InverseDynamicsJoint