us.ihmc.utilities.screwTheory
Class ConvectiveTermCalculator

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

public class ConvectiveTermCalculator
extends java.lang.Object

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
ConvectiveTermCalculator()
           
 
Method Summary
 void computeJacobianDerivativeTerm(GeometricJacobian jacobian, SpatialAccelerationVector accelerationToPack)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ConvectiveTermCalculator

public ConvectiveTermCalculator()
Method Detail

computeJacobianDerivativeTerm

public void computeJacobianDerivativeTerm(GeometricJacobian jacobian,
                                          SpatialAccelerationVector accelerationToPack)