us.ihmc.utilities.screwTheory
Class OriginalDynamicallyConsistentNullspaceCalculator
java.lang.Object
us.ihmc.utilities.screwTheory.OriginalDynamicallyConsistentNullspaceCalculator
- All Implemented Interfaces:
- DynamicallyConsistentNullspaceCalculator
public class OriginalDynamicallyConsistentNullspaceCalculator
- extends java.lang.Object
- implements DynamicallyConsistentNullspaceCalculator
See: L. Sentis. Synthesis and Control of Whole-Body Behaviors in Humanoid Systems (2007)
- Author:
- twan
Date: 4/15/13
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
OriginalDynamicallyConsistentNullspaceCalculator
public OriginalDynamicallyConsistentNullspaceCalculator(SixDoFJoint rootJoint,
boolean computeSNsBar)
reset
public void reset()
- Specified by:
reset
in interface DynamicallyConsistentNullspaceCalculator
addConstraint
public void addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
- Specified by:
addConstraint
in interface DynamicallyConsistentNullspaceCalculator
addActuatedJoint
public void addActuatedJoint(InverseDynamicsJoint joint)
- Specified by:
addActuatedJoint
in interface DynamicallyConsistentNullspaceCalculator
compute
public void compute()
- Specified by:
compute
in interface DynamicallyConsistentNullspaceCalculator
getDynamicallyConsistentNullspace
public org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()
- Specified by:
getDynamicallyConsistentNullspace
in interface DynamicallyConsistentNullspaceCalculator
getSNsBar
public org.ejml.data.DenseMatrix64F getSNsBar()
- Specified by:
getSNsBar
in interface DynamicallyConsistentNullspaceCalculator