us.ihmc.utilities.screwTheory
Class CentroidalMomentumMatrixTest
java.lang.Object
us.ihmc.utilities.screwTheory.CentroidalMomentumMatrixTest
public class CentroidalMomentumMatrixTest
- extends java.lang.Object
Method Summary |
static us.ihmc.utilities.screwTheory.Momentum |
computeCoMMomentum(us.ihmc.utilities.screwTheory.RigidBody elevator,
us.ihmc.utilities.math.geometry.ReferenceFrame centerOfMassFrame,
us.ihmc.utilities.screwTheory.CentroidalMomentumMatrix centroidalMomentumMatrix)
|
void |
testFloatingBody()
|
void |
testTree()
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
CentroidalMomentumMatrixTest
public CentroidalMomentumMatrixTest()
testTree
public void testTree()
testFloatingBody
public void testFloatingBody()
computeCoMMomentum
public static us.ihmc.utilities.screwTheory.Momentum computeCoMMomentum(us.ihmc.utilities.screwTheory.RigidBody elevator,
us.ihmc.utilities.math.geometry.ReferenceFrame centerOfMassFrame,
us.ihmc.utilities.screwTheory.CentroidalMomentumMatrix centroidalMomentumMatrix)