Java OneDoFJoint.getQ Examples

Example #1

File: PerfectSimulatedOutputWriter.java Project: ihmcrobotics/ihmc-open-robotics-software

  public void updateRobotConfigurationBasedOnFullRobotModel() {
    for (int i = 0; i < revoluteJoints.size(); i++) {
      ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJoint> jointPair = revoluteJoints.get(i);
      OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
      OneDoFJoint revoluteJoint = jointPair.getRight();

      pinJoint.setQ(revoluteJoint.getQ());
    }

    FloatingJoint floatingJoint = rootJointPair.getLeft();
    FloatingInverseDynamicsJoint sixDoFJoint = rootJointPair.getRight();

    RigidBodyTransform transform = sixDoFJoint.getJointTransform3D();
    floatingJoint.setRotationAndTranslation(transform);
  }

Example #2

File: CurrentJointValueProvider.java Project: wxmerkt/ihmc-open-robotics-software

 public double getValue() {
   return joint.getQ();
 }