us.ihmc.utilities.screwTheory
Class ConstrainedCentroidalMomentumMatrixCalculator

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.ConstrainedCentroidalMomentumMatrixCalculator

public class ConstrainedCentroidalMomentumMatrixCalculator
extends java.lang.Object

Author:
twan Date: 4/15/13

Constructor Summary
ConstrainedCentroidalMomentumMatrixCalculator(SixDoFJoint rootJoint, ReferenceFrame centerOfMassFrame, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 
Method Summary
 void addActuatedJoint(InverseDynamicsJoint joint)
           
 void addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void compute()
           
 org.ejml.data.DenseMatrix64F getCentroidalMomentumMatrix()
           
 org.ejml.data.DenseMatrix64F getConstrainedCentroidalMomentumMatrix()
           
 void reset()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ConstrainedCentroidalMomentumMatrixCalculator

public ConstrainedCentroidalMomentumMatrixCalculator(SixDoFJoint rootJoint,
                                                     ReferenceFrame centerOfMassFrame,
                                                     org.ejml.data.DenseMatrix64F selectionMatrix)
Method Detail

reset

public void reset()

addConstraint

public void addConstraint(RigidBody body,
                          org.ejml.data.DenseMatrix64F selectionMatrix)

addActuatedJoint

public void addActuatedJoint(InverseDynamicsJoint joint)

compute

public void compute()

getConstrainedCentroidalMomentumMatrix

public org.ejml.data.DenseMatrix64F getConstrainedCentroidalMomentumMatrix()

getCentroidalMomentumMatrix

public org.ejml.data.DenseMatrix64F getCentroidalMomentumMatrix()