public void getLinearAcceleration(Vector3d linearAccelerationToPack) { linearAccelerationToPack.setX(jointAcceleration.getLinearPartX()); linearAccelerationToPack.setY(0.0); linearAccelerationToPack.setZ(jointAcceleration.getLinearPartZ()); }
@Override public void getDesiredAccelerationMatrix(DenseMatrix64F matrix, int rowStart) { matrix.set(rowStart + 0, 0, jointAccelerationDesired.getAngularPartY()); matrix.set(rowStart + 1, 0, jointAccelerationDesired.getLinearPartX()); matrix.set(rowStart + 2, 0, jointAccelerationDesired.getLinearPartZ()); }
@Override public void calculateJointDesiredChecksum(GenericCRC32 checksum) { checksum.update(jointAccelerationDesired.getAngularPartY()); checksum.update(jointAccelerationDesired.getLinearPartX()); checksum.update(jointAccelerationDesired.getLinearPartZ()); }
public void getLinearAcceleration(Vector3d linearAccelerationToPack) { linearAccelerationToPack.setX(jointAcceleration.getLinearPartX()); linearAccelerationToPack.setY(jointAcceleration.getLinearPartY()); linearAccelerationToPack.setZ(jointAcceleration.getLinearPartZ()); } }
public void setAcceleration(SpatialAccelerationVector jointAcceleration) { this.jointAcceleration.checkReferenceFramesMatch(jointAcceleration); this.jointAcceleration.setAngularPartY(jointAcceleration.getAngularPartY()); this.jointAcceleration.setLinearPartX(jointAcceleration.getLinearPartX()); this.jointAcceleration.setLinearPartZ(jointAcceleration.getLinearPartZ()); }
public void setDesiredAcceleration(SpatialAccelerationVector jointAcceleration) { this.jointAccelerationDesired.checkReferenceFramesMatch(jointAcceleration); this.jointAccelerationDesired.setAngularPartY(jointAcceleration.getAngularPartY()); this.jointAccelerationDesired.setLinearPartX(jointAcceleration.getLinearPartX()); this.jointAccelerationDesired.setLinearPartZ(jointAcceleration.getLinearPartZ()); }
@Override public void getJointAcceleration(SpatialAccelerationVector accelerationToPack) { accelerationToPack.setToZero(jointAcceleration.getBodyFrame(), jointAcceleration.getBaseFrame(), jointAcceleration.getExpressedInFrame()); accelerationToPack.setAngularPartY(jointAcceleration.getAngularPartY()); accelerationToPack.setLinearPartX(jointAcceleration.getLinearPartX()); accelerationToPack.setLinearPartZ(jointAcceleration.getLinearPartZ()); }
@Override public void getDesiredJointAcceleration(SpatialAccelerationVector accelerationToPack) { accelerationToPack.setToZero(jointAccelerationDesired.getBodyFrame(), jointAccelerationDesired.getBaseFrame(), jointAccelerationDesired.getExpressedInFrame()); accelerationToPack.setAngularPartY(jointAccelerationDesired.getAngularPartY()); accelerationToPack.setLinearPartX(jointAccelerationDesired.getLinearPartX()); accelerationToPack.setLinearPartZ(jointAccelerationDesired.getLinearPartZ()); }
@Override public void calculateJointStateChecksum(GenericCRC32 checksum) { RotationTools.convertQuaternionToYawPitchRoll(jointRotation, yawPitchRoll); checksum.update(yawPitchRoll[1]); checksum.update(jointTwist.getAngularPartY()); checksum.update(jointAcceleration.getAngularPartY()); checksum.update(jointTranslation.getX()); checksum.update(jointTranslation.getY()); checksum.update(jointTwist.getLinearPartX()); checksum.update(jointTwist.getLinearPartZ()); checksum.update(jointAcceleration.getLinearPartX()); checksum.update(jointAcceleration.getLinearPartZ()); }