/** * Get time derivative of angle * @param j j * @return r */ //ODE_API public static double dJointGetUniversalAngle2Rate (DUniversalJoint j) { return j.getAngle2Rate(); }
/** * Get time derivative of angle * @param j j * @return r */ //ODE_API public static double dJointGetUniversalAngle2Rate (DUniversalJoint j) { return j.getAngle2Rate(); }
dampRotationalMotion (0.1); double a = jointUniversal.getAngle2(); double r = jointUniversal.getAngle2Rate(); double diff = a - last_angle_702; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle2(); double r = jointUniversal.getAngle2Rate(); double diff = a - last_angle_722; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle2(); double r = jointUniversal.getAngle2Rate(); double diff = a - last_angle_732; if (diff > M_PI) diff -= 2*M_PI; dampRotationalMotion (0.1); double a = jointUniversal.getAngle2(); double r = jointUniversal.getAngle2Rate(); double diff = a - last_angle_742; if (diff > M_PI) diff -= 2*M_PI;