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java.lang.Objectus.ihmc.utilities.screwTheory.ConvectiveTermCalculator
public class ConvectiveTermCalculator
Computes Jacobian derivative times velocity vector Useful for dealing with task space accelerations, since: J * v = T differentiate: \dot{J} * v + J * \dot{v} = \dot{T} This class computes \dot{J} * v (the convective term in this equation)
Constructor Summary | |
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ConvectiveTermCalculator()
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Method Summary | |
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void |
computeJacobianDerivativeTerm(GeometricJacobian jacobian,
SpatialAccelerationVector accelerationToPack)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public ConvectiveTermCalculator()
Method Detail |
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public void computeJacobianDerivativeTerm(GeometricJacobian jacobian, SpatialAccelerationVector accelerationToPack)
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