JP - public class Frame<JP extends JointPosition> extends Object implements Serializable
| Constructor and Description |
|---|
Frame() |
public void addPosition(JP jp)
public JP getJointPositionForOldLogicalJointNumber(Integer jointID)
public String dumpAllPositions()
public String dumpNonzeroPositions()
public void transformOtherFrame(Frame targetFrame, Set<Joint> permittedJointMask, boolean okToAddDim)
public Frame copyAndConvert(JointStateCoordinateType targetCoordinateType)
public Frame copy()
public static Frame weightedSumCommonJoints(Frame f1, double w1, Frame f2, double w2)
public static Frame weightedSumSelectedJoints(Frame f1, double w1, Frame f2, double w2, Set<Joint> selJoints)
public static Frame computeDerivativeFrame(JointStateCoordinateType outType, Frame prevPosAR, Frame currPosAR, double timeSec)
public Frame integrate(double time)
public void multiplyByScalar(double scalar)
public void addDeltaFrame(Frame delta)
public void truncate()
public void verifyCoordinateTypeCompatibility(JointStateCoordinateType ctype)
public double computeNorm(double normPower,
JointStateCoordinateType ctype)
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