hmi.physics.featherstone
Class BallJoint

java.lang.Object
  hmi.physics.featherstone.BallJoint

All Implemented Interfaces:

Joint

public class BallJoint
extends Object
implements Joint

Field Summary

(package private) float[]

tempq

Constructor Summary

BallJoint()

Method Summary

int	getQDimension()
int	getQDotDimension()
int	getSWidth()
void	jcalc(float[] Xj, float[] S, float[] vj, float[] cj, float[] q, float[] qdot) q is rotation quaternion, qdot = w

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

tempq

float[] tempq

Constructor Detail

BallJoint

public BallJoint()

Method Detail

jcalc

public void jcalc(float[] Xj,
                  float[] S,
                  float[] vj,
                  float[] cj,
                  float[] q,
                  float[] qdot)

q is rotation quaternion, qdot = w

Specified by:

jcalc in interface Joint

Parameters:

Xj - output: spatial joint transform by q

S - output: joint motion subspace matrix (size 6xn)

vj - output: joint spatial velocity (size 6)

cj - output: velocity dependent spatial acceleration of the joint (size 6)

q - input: joint DoF values (typically size n)

qdot - input: time derivative of joint DoF values (typically size n)

getQDimension

public int getQDimension()

Specified by:

getQDimension in interface Joint

getQDotDimension

public int getQDotDimension()

Specified by:

getQDotDimension in interface Joint

getSWidth

public int getSWidth()

Specified by:

getSWidth in interface Joint