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

Best Java code snippets using us.ihmc.robotics.screwTheory.InverseDynamicsJoint.setConfiguration (Showing top 2 results out of 315)

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}

public void putConfigurationsIntoJoints(InverseDynamicsJoint[] joints)
{
 if (jointConfigurations.length != joints.length)
   throw new RuntimeException("Number of joints does not match up. Received: " + jointConfigurations.length + ", expected: " + joints.length);
 for (int i = 0; i < jointConfigurations.length; i++)
 {
   DenseMatrix64F configuration = jointConfigurations[i];
   joints[i].setConfiguration(configuration, 0);
 }
}

public static void setJointPositions(InverseDynamicsJoint[] joints, DenseMatrix64F jointPositions)
{
 int rowStart = 0;
 for (InverseDynamicsJoint joint : joints)
 {
   joint.setConfiguration(jointPositions, rowStart);
   rowStart += joint.getDegreesOfFreedom();
   if (joint instanceof SixDoFJoint || joint instanceof SphericalJoint)
    rowStart++; // Because of stupid quaternions
 }
}

Javadoc

Sets the joint current configuration from the given column vector DenseMatrix64F. Here are a few examples:

For a RevoluteJoint, the rowStartth row of the given column vector is used to set the current joint angle q.
For a SixDoFJoint, the 4 rows starting from rowStart are used to set the current 3D orientation as a quaternion, and the 3 rows starting from ( rowStart + 4) are used to set the 3D position.

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
calculateJointDesiredChecksum
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

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

Best Java code snippets using us.ihmc.robotics.screwTheory.InverseDynamicsJoint.setConfiguration (Showing top 2 results out of 315)

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