us.ihmc.scs2.definition.state.interfaces.JointStateBasics Maven / Gradle / Ivy

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package us.ihmc.scs2.definition.state.interfaces;

import org.ejml.data.DMatrix;

import us.ihmc.mecano.multiBodySystem.interfaces.JointReadOnly;

public interface JointStateBasics extends JointStateReadOnly
{
   void clear();

   void set(JointStateReadOnly other);

   default void set(JointReadOnly joint)
   {
      setConfiguration(joint);
      setVelocity(joint);
      setAcceleration(joint);
      setEffort(joint);
   }

   int setConfiguration(int startRow, DMatrix configuration);

   void setConfiguration(JointReadOnly joint);

   int setVelocity(int startRow, DMatrix velocity);

   void setVelocity(JointReadOnly joint);

   int setAcceleration(int startRow, DMatrix acceleration);

   void setAcceleration(JointReadOnly joint);

   int setEffort(int startRow, DMatrix effort);

   void setEffort(JointReadOnly joint);

   JointStateBasics copy();
}