us.ihmc.utilities.screwTheory
Class CompositeRigidBodyMassMatrixCalculator

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.CompositeRigidBodyMassMatrixCalculator
All Implemented Interfaces:
MassMatrixCalculator

public class CompositeRigidBodyMassMatrixCalculator
extends java.lang.Object
implements MassMatrixCalculator


Constructor Summary
CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
           
 
Method Summary
 void compute()
           
 InverseDynamicsJoint[] getJointsInOrder()
           
 org.ejml.data.DenseMatrix64F getMassMatrix()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CompositeRigidBodyMassMatrixCalculator

public CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
Method Detail

compute

public void compute()
Specified by:
compute in interface MassMatrixCalculator

getMassMatrix

public org.ejml.data.DenseMatrix64F getMassMatrix()
Specified by:
getMassMatrix in interface MassMatrixCalculator

getJointsInOrder

public InverseDynamicsJoint[] getJointsInOrder()
Specified by:
getJointsInOrder in interface MassMatrixCalculator