@Override public void setVector(VectorInterface vectorInterface) { vectorInterface.getVector(this.getVector()); }
/** * Packs a version of the linear velocity, rotated to the base frame. */ public void getBodyOriginLinearPartInBaseFrame(FrameVector linearVelocityAtBodyOriginToPack) { linearVelocityAtBodyOriginToPack.setToZero(baseFrame); getBodyOriginLinearPartInBaseFrame(linearVelocityAtBodyOriginToPack.getVector()); }
public void correctState(DenseMatrix64F correction) { MatrixTools.extractTuple3dFromEJMLVector(centerOfMassPositionDelta.getVector(), correction, 0); updateCenterOfMassPosition(centerOfMassPositionDelta); }
public void convertToTwist(FrameVector linearVelocityOfOrigin, FrameVector angularVelocity, RigidBody base, Twist twistToPack) { angularVelocity.changeFrame(endEffectorFrame); linearVelocityOfOrigin.changeFrame(endEffectorFrame); twistToPack.set(endEffectorFrame, base.getBodyFixedFrame(), endEffectorFrame, linearVelocityOfOrigin.getVector(), angularVelocity.getVector()); }
public void setAngularVelocity(FrameVector angularVelocity) { checkReferenceFrameMatch(angularVelocity); geometryObject.setAngularVelocity(angularVelocity.getVector()); }
public void getLinearVelocity(FrameVector linearVelocityToPack) { checkReferenceFrameMatch(linearVelocityToPack); geometryObject.getLinearVelocity(linearVelocityToPack.getVector()); }
public void getLinearVelocity(FrameVector linearVelocityToPack) { checkReferenceFrameMatch(linearVelocityToPack); geometryObject.getLinearVelocity(linearVelocityToPack.getVector()); }
public void getLinearVelocityIncludingFrame(FrameVector linearVelocityToPack) { linearVelocityToPack.setToZero(getReferenceFrame()); geometryObject.getLinearVelocity(linearVelocityToPack.getVector()); }
/** * Sets the linear velocity part of the spatial motion vector */ public void setLinearPart(FrameVector newLinearVelocity) { expressedInFrame.checkReferenceFrameMatch(newLinearVelocity.getReferenceFrame()); linearPart.set(newLinearVelocity.getVector()); }
public void setIncludingFrame(FramePoint position, FrameOrientation orientation, FrameVector linearVelocity, FrameVector angularVelocity) { position.checkReferenceFrameMatch(orientation); position.checkReferenceFrameMatch(linearVelocity); position.checkReferenceFrameMatch(angularVelocity); setToZero(position.getReferenceFrame()); geometryObject.set(position.getPoint(), orientation.getQuaternion(), linearVelocity.getVector(), angularVelocity.getVector()); }
public void setIncludingFrame(double time, FramePoint position, FrameOrientation orientation, FrameVector linearVelocity, FrameVector angularVelocity) { position.checkReferenceFrameMatch(orientation); position.checkReferenceFrameMatch(linearVelocity); position.checkReferenceFrameMatch(angularVelocity); setToZero(position.getReferenceFrame()); geometryObject.set(time, position.getPoint(), orientation.getQuaternion(), linearVelocity.getVector(), angularVelocity.getVector()); }
public void set(double time, FrameOrientation orientation, FrameVector angularVelocity) { checkReferenceFrameMatch(orientation); checkReferenceFrameMatch(angularVelocity); geometryObject.set(time, orientation.getQuaternion(), angularVelocity.getVector()); }
public void set(FrameOrientation orientation, FrameVector angularVelocity) { checkReferenceFrameMatch(orientation); checkReferenceFrameMatch(angularVelocity); geometryObject.set(orientation.getQuaternion(), angularVelocity.getVector()); }
private void computeRootJointAcceleration(FloatingInverseDynamicsJoint rootJoint, SpatialAccelerationVector rootJointAcceleration, FrameVector rootJointAngularAcceleration, FrameVector rootJointLinearAcceleration) { rootJointAngularAcceleration.checkReferenceFrameMatch(rootJoint.getFrameAfterJoint()); rootJointLinearAcceleration.checkReferenceFrameMatch(rootJoint.getFrameAfterJoint()); rootJointAcceleration.set(rootJoint.getFrameAfterJoint(), rootJoint.getFrameBeforeJoint(), rootJoint.getFrameAfterJoint(), rootJointLinearAcceleration.getVector(), rootJointAngularAcceleration.getVector()); }
public void setAngularVelocity(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, FrameVector desiredAngularVelocity) { spatialVelocity.setToZero(bodyFrame, baseFrame, desiredAngularVelocity.getReferenceFrame()); spatialVelocity.setAngularPart(desiredAngularVelocity.getVector()); setSelectionMatrixForAngularControl(); }
public void set(FramePoint position, FrameVector linearVelocity) { checkReferenceFrameMatch(position); checkReferenceFrameMatch(linearVelocity); geometryObject.set(position.getPoint(), linearVelocity.getVector()); }
public void setIncludingFrame(FrameOrientation orientation, FrameVector angularVelocity) { orientation.checkReferenceFrameMatch(angularVelocity); setToZero(orientation.getReferenceFrame()); geometryObject.set(orientation.getQuaternion(), angularVelocity.getVector()); }
private void computeNormalContactVectorRotation(Matrix3d normalContactVectorRotationMatrixToPack) { yoPlaneContactState.getContactNormalFrameVector(contactNormalVector); contactNormalVector.changeFrame(planeFrame); contactNormalVector.normalize(); GeometryTools.getAxisAngleFromZUpToVector(contactNormalVector.getVector(), normalContactVectorRotation); normalContactVectorRotationMatrixToPack.set(normalContactVectorRotation); }
public void setIncludingFrame(double time, FramePoint position, FrameVector linearVelocity) { position.checkReferenceFrameMatch(linearVelocity); setToZero(position.getReferenceFrame()); geometryObject.set(time, position.getPoint(), linearVelocity.getVector()); }