/** * Creates a descriptive {@code String} for this Jacobian containing information such as the * {@code jacobianFrame}, the list of the joint names, and the current value of the Jacobian * matrix. * * @return a descriptive {@code String} for this Jacobian. */ @Override public String toString() { StringBuilder builder = new StringBuilder(); builder.append("Jacobian. jacobianFrame = " + jacobianFrame + ". Joints:\n"); for (JointBasics joint : joints) { builder.append(joint.getClass().getSimpleName() + " " + joint.getName() + "\n"); } builder.append("\n"); builder.append(jacobian.toString()); return builder.toString(); }
/** * Creates a descriptive {@code String} for this Jacobian containing * information such as the {@code jacobianFrame}, the list of the joint names, * and the current value of the Jacobian matrix. * * @return a descriptive {@code String} for this Jacobian. */ @Override public String toString() { StringBuilder builder = new StringBuilder(); builder.append("Jacobian. jacobianFrame = " + jacobianFrame + ". Joints:\n"); for (InverseDynamicsJoint joint : unitTwistMap.keySet()) { builder.append(joint.getClass().getSimpleName() + " " + joint.getName() + "\n"); } builder.append("\n"); builder.append(jacobian.toString()); return builder.toString(); }
@Override public String toString() { DenseMatrix64F mat = new DenseMatrix64F(6, 6); getMatrix(mat); return mat.toString(); }
/** * Creates a descriptive {@code String} for this Jacobian containing information such as the * {@code jacobianFrame}, the list of the joint names, and the current value of the Jacobian matrix. * * @return a descriptive {@code String} for this Jacobian. */ @Override public String toString() { StringBuilder builder = new StringBuilder(); builder.append("Jacobian. jacobianFrame = " + jacobianFrame + ". Joints:\n"); RigidBodyReadOnly currentBody = endEffector; while (currentBody != base) { JointReadOnly joint = currentBody.getParentJoint(); builder.append(joint.getClass().getSimpleName() + " " + joint.getName() + "\n"); currentBody = joint.getPredecessor(); } builder.append("\n"); builder.append(jacobianMatrix.toString()); return builder.toString(); }
throw new RuntimeException("Invalid computed desired joint velocities: " + desiredJointVelocities.toString());