/** * Get the hinge angle time derivative. * @param j j * @return r */ //ODE_API public static double dJointGetHingeAngleRate (DHingeJoint j) { return j.getAngleRate(); }
/** * Get the hinge angle time derivative. * @param j j * @return r */ //ODE_API public static double dJointGetHingeAngleRate (DHingeJoint j) { return j.getAngleRate(); }
body[1].addTorque (0,0,-0.01); double a = jointHinge.getAngle(); double r = jointHinge.getAngleRate(); double er = (a-last_angle_221)/STEPSIZE; // estimated rate last_angle_221 = a; case 231: { // ...with stops double r = jointHinge.getAngleRate(); double err = Math.abs (Math.cos(a_231) - r); if (a_231==0) err = 0;