• Home
• us.ihmc
• simulation-construction-set
• 0.23.3
• source code
• FloatingSCSJoint.java

×

Project download

Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance.
Project price only 1 $

You can buy this project and download/modify it how often you want.

us.ihmc.simulationconstructionset.FloatingSCSJoint Maven / Gradle / Ivy

package us.ihmc.simulationconstructionset;

import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DBasics;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformBasics;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.simulationconstructionset.util.CommonJoint;

public interface FloatingSCSJoint extends CommonJoint
{
   public void setRotationAndTranslation(RigidBodyTransformReadOnly transform);

   public void setVelocity(Tuple3DReadOnly velocity);

   public void setAngularVelocityInBody(Vector3DReadOnly angularVelocityInBody);

   public void getVelocity(FrameVector3DBasics linearVelocityToPack);

   public void getAngularVelocity(FrameVector3DBasics angularVelocityToPack, ReferenceFrame bodyFrame);

   public void getTransformToWorld(RigidBodyTransformBasics ret);
}