@Override protected void copyJoint(JointBasics originalJoint, JointBasics targetJoint) { targetJoint.setJointAcceleration(originalJoint); }
private static int insertJointsAcceleration(JointBasics[] joints, int startIndex, DenseMatrix64F matrix) { for (int jointIndex = 0; jointIndex < joints.length; jointIndex++) { JointBasics joint = joints[jointIndex]; startIndex = joint.setJointAcceleration(startIndex, matrix); } return startIndex; }
private static int insertJointsAcceleration(List<? extends JointBasics> joints, int startIndex, DenseMatrix64F matrix) { for (int jointIndex = 0; jointIndex < joints.size(); jointIndex++) { JointBasics joint = joints.get(jointIndex); startIndex = joint.setJointAcceleration(startIndex, matrix); } return startIndex; }
private static void copyJointsAcceleration(List<? extends JointReadOnly> source, List<? extends JointBasics> destination) { for (int jointIndex = 0; jointIndex < source.size(); jointIndex++) { JointReadOnly sourceJoint = source.get(jointIndex); JointBasics destinationJoint = destination.get(jointIndex); destinationJoint.setJointAcceleration(sourceJoint); } }
/** * Writes the computed acceleration into the given {@code joint}. * <p> * Any joint that is not considered by this calculator remains unchanged. * </p> * * @param joint the joint to retrieve the acceleration of and to store it. Modified. * @return whether the calculator handles the given joint or not. */ public boolean writeComputedJointAcceleration(JointBasics joint) { ArticulatedBodyRecursionStep recursionStep = rigidBodyToRecursionStepMap.get(joint.getSuccessor()); if (recursionStep == null) return false; joint.setJointAcceleration(0, recursionStep.qdd); return true; }
@Override protected void copyJoint(JointBasics originalJoint, JointBasics targetJoint) { targetJoint.setJointConfiguration(originalJoint); targetJoint.setJointTwist(originalJoint); targetJoint.setJointAcceleration(originalJoint); }