hmi.physics.featherstone
Interface Joint

All Known Implementing Classes:

BallJoint

public interface Joint

Method Summary

int	getQDimension()
int	getQDotDimension()
int	getSWidth()
void	jcalc(float[] Xj, float[] S, float[] vj, float[] cj, float[] q, float[] qdot) Calculates Xj, S, vj, cj on the basis of joint DoF q and their velocity qdot

Method Detail

jcalc

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

Calculates Xj, S, vj, cj on the basis of joint DoF q and their velocity qdot

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

int getQDimension()

getQDotDimension

int getQDotDimension()

getSWidth

int getSWidth()