us.ihmc.utilities.screwTheory
Class ConstrainedCentroidalMomentumMatrixCalculator
java.lang.Object
us.ihmc.utilities.screwTheory.ConstrainedCentroidalMomentumMatrixCalculator
public class ConstrainedCentroidalMomentumMatrixCalculator
- extends java.lang.Object
- Author:
- twan
Date: 4/15/13
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ConstrainedCentroidalMomentumMatrixCalculator
public ConstrainedCentroidalMomentumMatrixCalculator(SixDoFJoint rootJoint,
ReferenceFrame centerOfMassFrame,
org.ejml.data.DenseMatrix64F selectionMatrix)
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()