public PlanarJoint(String name, RigidBody predecessor, ReferenceFrame beforeJointFrame) { super(name, predecessor, beforeJointFrame); this.afterJointFrame = new FloatingInverseDynamicsJointReferenceFrame(name, beforeJointFrame); this.jointTwist = new Twist(afterJointFrame, beforeJointFrame, afterJointFrame); this.jointAcceleration = new SpatialAccelerationVector(afterJointFrame, beforeJointFrame, afterJointFrame); this.jointAccelerationDesired = new SpatialAccelerationVector(afterJointFrame, beforeJointFrame, afterJointFrame); }
public SphericalJoint(String name, RigidBody predecessor, ReferenceFrame beforeJointFrame) { super(name, predecessor, beforeJointFrame); this.afterJointFrame = new FloatingInverseDynamicsJointReferenceFrame(name, beforeJointFrame); this.jointAngularVelocity = new FrameVector(afterJointFrame); this.jointAngularAcceleration = new FrameVector(afterJointFrame); this.jointAngularAccelerationDesired = new FrameVector(afterJointFrame); }
public SixDoFJoint(String name, RigidBody predecessor, ReferenceFrame beforeJointFrame) { super(name, predecessor, beforeJointFrame); this.afterJointFrame = new FloatingInverseDynamicsJointReferenceFrame(name, beforeJointFrame); this.jointTwist = new Twist(afterJointFrame, beforeJointFrame, afterJointFrame); this.jointAcceleration = new SpatialAccelerationVector(afterJointFrame, beforeJointFrame, afterJointFrame); this.jointAccelerationDesired = new SpatialAccelerationVector(afterJointFrame, beforeJointFrame, afterJointFrame); }