/** {@inheritDoc} */ @Override default int setJointTau(int rowStart, DenseMatrix64F matrix) { getJointWrench().set(rowStart, matrix); return rowStart + getDegreesOfFreedom(); } }
/** {@inheritDoc} */ @Override default int setJointAcceleration(int rowStart, DenseMatrix64F matrix) { getJointAcceleration().set(rowStart, matrix); return rowStart + getDegreesOfFreedom(); }
/** {@inheritDoc} */ @Override default int setJointVelocity(int rowStart, DenseMatrix64F matrix) { getJointTwist().set(rowStart, matrix); return rowStart + getDegreesOfFreedom(); }
/** {@inheritDoc} */ @Override default int setJointConfiguration(int rowStart, DenseMatrix64F matrix) { getJointPose().getOrientation().set(rowStart, matrix); getJointPose().getPosition().set(rowStart + 4, matrix); return rowStart + getConfigurationMatrixSize(); }
/** * Sets this joint velocity from the other joint. * * @param other the other to get the velocity from. Not modified. */ default void setJointTwist(SixDoFJointReadOnly other) { // Cast to frameless object so we don't perform frame checks which would automatically fail. Vector3DReadOnly otherAngularVelocity = other.getJointTwist().getAngularPart(); Vector3DReadOnly otherLinearVelocity = other.getJointTwist().getLinearPart(); setJointAngularVelocity(otherAngularVelocity); setJointLinearVelocity(otherLinearVelocity); }
/** * Sets this joint acceleration from the other joint. * * @param other the other to get the acceleration from. Not modified. */ default void setJointAcceleration(SixDoFJointReadOnly other) { // Cast to frameless object so we don't perform frame checks which would automatically fail. Vector3DReadOnly otherAngularAcceleration = other.getJointAcceleration().getAngularPart(); Vector3DReadOnly otherLinearAcceleration = other.getJointAcceleration().getLinearPart(); setJointAngularAcceleration(otherAngularAcceleration); setJointLinearAcceleration(otherLinearAcceleration); }
/** {@inheritDoc} */ @Override default void setJointConfiguration(JointReadOnly other) { setJointConfiguration(MecanoTools.checkTypeAndCast(other, SixDoFJointReadOnly.class)); }
/** {@inheritDoc} */ @Override default void setJointAcceleration(JointReadOnly other) { setJointAcceleration(MecanoTools.checkTypeAndCast(other, SixDoFJointReadOnly.class)); }
/** * Sets this joint configuration from the other joint. * * @param other the other to get the configuration from. Not modified. */ default void setJointConfiguration(SixDoFJointReadOnly other) { setJointConfiguration(other.getJointPose()); }