us.ihmc.utilities.screwTheory
Interface DynamicallyConsistentNullspaceCalculator

All Known Implementing Classes:
OriginalDynamicallyConsistentNullspaceCalculator

public interface DynamicallyConsistentNullspaceCalculator

Author:
twan Date: 4/17/13

Method Summary
 void addActuatedJoint(InverseDynamicsJoint joint)
           
 void addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void compute()
           
 org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()
           
 org.ejml.data.DenseMatrix64F getSNsBar()
           
 void reset()
           
 

Method Detail

reset

void reset()

addConstraint

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

addActuatedJoint

void addActuatedJoint(InverseDynamicsJoint joint)

compute

void compute()

getDynamicallyConsistentNullspace

org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()

getSNsBar

org.ejml.data.DenseMatrix64F getSNsBar()