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InverseDynamicsJoint.setConfiguration
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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)

origin: us.ihmc/IHMCHumanoidRobotics

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);
 }
}
origin: us.ihmc/IHMCRoboticsToolkit

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
 }
}
us.ihmc.robotics.screwTheoryInverseDynamicsJointsetConfiguration

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
  • getDesiredAccelerationMatrix,
  • getDesiredSuccessorAcceleration,
  • getMotionSubspace,
  • getPredecessorTwist,
  • getSuccessorAcceleration,
  • getSuccessorTwist,
  • getTauMatrix,
  • getVelocityMatrix,
  • setDesiredAcceleration

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