us.ihmc.utilities.screwTheory
Class CenterOfMassJacobian

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

public class CenterOfMassJacobian
extends java.lang.Object


Constructor Summary
CenterOfMassJacobian(RigidBody rootBody)
           
CenterOfMassJacobian(RigidBody[] rigidBodies, InverseDynamicsJoint[] joints, ReferenceFrame rootFrame)
           
CenterOfMassJacobian(RigidBody[] rigidBodies, ReferenceFrame rootFrame)
           
 
Method Summary
 void compute()
           
 org.ejml.data.DenseMatrix64F getMatrix()
           
 void packCenterOfMassVelocity(FrameVector centerOfMassVelocityToPack)
           
 void recomputeSubtreeMassesAndTotalMass()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CenterOfMassJacobian

public CenterOfMassJacobian(RigidBody rootBody)

CenterOfMassJacobian

public CenterOfMassJacobian(RigidBody[] rigidBodies,
                            ReferenceFrame rootFrame)

CenterOfMassJacobian

public CenterOfMassJacobian(RigidBody[] rigidBodies,
                            InverseDynamicsJoint[] joints,
                            ReferenceFrame rootFrame)
Method Detail

recomputeSubtreeMassesAndTotalMass

public void recomputeSubtreeMassesAndTotalMass()

compute

public void compute()

getMatrix

public org.ejml.data.DenseMatrix64F getMatrix()

packCenterOfMassVelocity

public void packCenterOfMassVelocity(FrameVector centerOfMassVelocityToPack)