com.yobotics.simulationconstructionset
Class SpatialTransformationMatrix
java.lang.Object
com.yobotics.simulationconstructionset.SpatialTransformationMatrix
- All Implemented Interfaces:
- java.io.Serializable
public final class SpatialTransformationMatrix
- extends java.lang.Object
- implements java.io.Serializable
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
- Version:
- Beta 1.0
- Author:
- Jerry Pratt
- See Also:
- Serialized Form
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
SpatialTransformationMatrix
public SpatialTransformationMatrix()
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
setFromOffsetAndRotation
public void setFromOffsetAndRotation(javax.vecmath.Vector3d r_i,
javax.vecmath.Matrix3d Rin)
set
public void set(SpatialTransformationMatrix Min)
invert
public void invert()
transform
public void transform(SpatialVector v1)
transformSpatialInertia
public void transformSpatialInertia(SpatialInertiaMatrix I)