Package us.ihmc.utilities.screwTheory

Interface Summary
DynamicallyConsistentNullspaceCalculator  
InverseDynamicsJoint  
JacobianSolver  
MassMatrixCalculator  
 

Class Summary
AbstractInverseDynamicsCopier  
AbstractInverseDynamicsJoint  
AfterJointReferenceFrameNameMap  
CenterOfMassAccelerationCalculator  
CenterOfMassAccelerationCalculatorTest  
CenterOfMassCalculator  
CenterOfMassJacobian  
CenterOfMassJacobianTest  
CentroidalMomentumMatrix  
CentroidalMomentumMatrixTest  
CompositeRigidBodyInertia  
CompositeRigidBodyMassMatrixCalculator  
CompositeRigidBodyMassMatrixCalculatorTest  
ConstrainedCenterOfMassJacobianCalculator  
ConstrainedCentroidalMomentumMatrixCalculator  
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)
ConvectiveTermCalculatorTest  
DesiredJointAccelerationCalculator  
DesiredJointAccelerationCalculatorOld  
DesiredJointAccelerationCalculatorTest  
DifferentialIDMassMatrixCalculator Very inefficient.
DifferentialIDMassMatrixCalculatorTest  
GeneralizedRigidBodyInertia  
GeometricJacobian  
GeometricJacobianTest  
InverseDynamicsCalculator Computes joint torques based on desired joint accelerations.
InverseDynamicsCalculatorTest This currently needs to be here because it uses SCS classes to test the inverse dynamics calculator, and SCS isn't on the IHMCUtilities build path
InverseDynamicsJointDesiredAccelerationCopier  
InverseDynamicsJointStateCopier  
InverseDynamicsMechanismExplorer  
InverseJacobianSolver  
MassMatrixCalculatorComparer  
MassMatrixCalculatorTest  
Momentum  
MomentumCalculator  
MomentumCalculatorTest  
MomentumTest  
OneDoFJoint  
OneDoFJointReferenceFrame  
OriginalDynamicallyConsistentNullspaceCalculator See: L.
PlanarJoint  
PlanarJointReferenceFrame  
PointJacobian Jacobian that maps joint velocities to the velocity of a point fixed to the end effector of a GeometricJacobian, with respect to the base of the GeometricJacobian, expressed in base frame.
PointJacobianConvectiveTermCalculator  
PointJacobianTest  
PrismaticJoint  
PrismaticJointReferenceFrame  
RevoluteJoint  
RevoluteJointReferenceFrame  
RigidBody  
RigidBodyInertia  
RigidBodyInertiaTest  
ScrewTestTools  
ScrewTestTools.RandomFloatingChain  
ScrewTools  
ScrewToolsTest  
SixDoFJoint  
SixDoFJointReferenceFrame  
SpatialAccelerationCalculator  
SpatialAccelerationVector Class represents the spatial acceleration of a rigid body.
SpatialAccelerationVectorTest  
SpatialForceVector  
SpatialMotionVector  
SpatialMotionVectorTest  
SphericalJoint  
ThreeDoFAngularAccelerationCalculator  
ThreeDoFAngularAccelerationCalculatorTest  
TotalMassCalculator  
TotalMassCalculatorTest  
TotalWrenchCalculator  
Twist  
TwistCalculator  
TwistTest  
Wrench  
WrenchTest