public static void setRandomDesiredAccelerations(OneDoFJoint[] joints, Random random) { for (OneDoFJoint joint : joints) { joint.setQddDesired(random.nextDouble()); } }
public static void setRandomDesiredAccelerations(Iterable<? extends OneDoFJoint> joints, Random random) { for (OneDoFJoint joint : joints) { joint.setQddDesired(random.nextDouble()); } }
@Override public void setDesiredAcceleration(DenseMatrix64F matrix, int rowStart) { setQddDesired(matrix.get(rowStart + 0, 0)); }
@Override public void setQddDesired(InverseDynamicsJoint originalJoint) { OneDoFJoint oneDoFOriginalJoint = checkAndGetAsOneDoFJoint(originalJoint); setQddDesired(oneDoFOriginalJoint.getQddDesired()); }
@Override public void doTransitionOutOfAction() { for (int i = 0; i < allOneDoFjoints.length; i++) { allOneDoFjoints[i].resetDesiredAccelerationIntegrator(); allOneDoFjoints[i].setQddDesired(0.0); allOneDoFjoints[i].setTau(0.0); } }
@Override public void doTransitionIntoAction() { for (int i = 0; i < allOneDoFjoints.length; i++) { allOneDoFjoints[i].resetDesiredAccelerationIntegrator(); allOneDoFjoints[i].setQddDesired(0.0); allOneDoFjoints[i].setTau(0.0); } initialize(); }
private void parseLowLevelDataInOneDoFJoints() { for (int i = 0; i < controlledOneDoFJoints.length; i++) { OneDoFJoint joint = controlledOneDoFJoints[i]; LowLevelJointDataReadOnly lowLevelJointData = yoLowLevelOneDoFJointDesiredDataHolder.getLowLevelJointData(joint); if (!lowLevelJointData.hasControlMode()) throw new NullPointerException("Joint: " + joint.getName() + " has no control mode."); switch (lowLevelJointData.getControlMode()) { case FORCE_CONTROL: joint.setUnderPositionControl(false); break; case POSITION_CONTROL: joint.setUnderPositionControl(true); break; default: throw new RuntimeException("Unhandled joint control mode: " + lowLevelJointData.getControlMode()); } if (lowLevelJointData.hasDesiredPosition()) joint.setqDesired(lowLevelJointData.getDesiredPosition()); if (lowLevelJointData.hasDesiredVelocity()) joint.setQdDesired(lowLevelJointData.getDesiredVelocity()); if (lowLevelJointData.hasDesiredAcceleration()) joint.setQddDesired(lowLevelJointData.getDesiredAcceleration()); if (lowLevelJointData.hasDesiredTorque()) joint.setTau(lowLevelJointData.getDesiredTorque()); } }
revoluteJoint.setQddDesired(jointAcceleration); else revoluteJoint.setQdd(jointAcceleration);