@Override public void computeAchievedAcceleration() { spatialAccelerationCalculator.getRelativeAcceleration(endEffectorAchievedAcceleration, base, endEffector); endEffectorAchievedAcceleration.getAngularPart(achievedAngularAcceleration); yoAchievedAngularAcceleration.setAndMatchFrame(achievedAngularAcceleration); }
public void computeAchievedAcceleration() { spatialAccelerationCalculator.getRelativeAcceleration(endEffectorAchievedAcceleration, base, endEffector); endEffectorAchievedAcceleration.getAngularPart(achievedAngularAcceleration); endEffectorAchievedAcceleration.getLinearPart(achievedLinearAcceleration); yoAchievedAngularAcceleration.setAndMatchFrame(achievedAngularAcceleration); yoAchievedLinearAcceleration.setAndMatchFrame(achievedLinearAcceleration); }
spatialAccelerationCalculator.getRelativeAcceleration(spatialAccelerationOfMeasurementLink, elevator, measurementLink); spatialAccelerationOfMeasurementLink.changeFrame(elevatorFrame, twistOfMeasurementLink, twistOfMeasurementLink); twistOfMeasurementLink.changeFrame(elevatorFrame);
spatialAccelerationCalculator.getRelativeAcceleration(tempRootToEstimationAcceleration, estimationLink, rootJoint.getSuccessor()); tempRootToEstimationAcceleration.changeFrameNoRelativeMotion(rootJoint.getFrameAfterJoint()); tempRootToEstimationAcceleration.getAngularPart(tempRootToEstimationAngularAcceleration);
ReferenceFrame elevatorFrame = elevator.getBodyFixedFrame(); twistCalculator.getRelativeTwist(twistOfMeasurementLink, elevator, measurementLink); spatialAccelerationCalculator.getRelativeAcceleration(spatialAccelerationOfMeasurementLink, elevator, measurementLink); spatialAccelerationOfMeasurementLink.changeFrame(elevatorFrame, twistOfMeasurementLink, twistOfMeasurementLink); spatialAccelerationCalculator.getRelativeAcceleration(spatialAccelerationOfMeasurementLink, elevator, measurementLink); twistOfMeasurementWithRespectToEstimation.changeFrame(measurementLink.getBodyFixedFrame()); twistOfMeasurementLink.changeFrame(measurementLink.getBodyFixedFrame());