@Override public void setDesiredAcceleration(DenseMatrix64F matrix, int rowStart) { jointAccelerationDesired.setToZero(); jointAccelerationDesired.setAngularPartY(matrix.get(rowStart + 0, 0)); jointAccelerationDesired.setLinearPartX(matrix.get(rowStart + 1, 0)); jointAccelerationDesired.setLinearPartZ(matrix.get(rowStart + 2, 0)); }
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()); }