us.ihmc.utilities.screwTheory
Class ConstrainedCenterOfMassJacobianCalculator

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

public class ConstrainedCenterOfMassJacobianCalculator
extends java.lang.Object

Author:
twan Date: 4/15/13

Constructor Summary
ConstrainedCenterOfMassJacobianCalculator(SixDoFJoint rootJoint)
           
 
Method Summary
 void addActuatedJoint(InverseDynamicsJoint joint)
           
 void addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void compute()
           
 org.ejml.data.DenseMatrix64F getCenterOfMassJacobian()
           
 org.ejml.data.DenseMatrix64F getConstrainedCenterOfMassJacobian()
           
 void reset()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

ConstrainedCenterOfMassJacobianCalculator

public ConstrainedCenterOfMassJacobianCalculator(SixDoFJoint rootJoint)
Method Detail

compute

public void compute()

reset

public void reset()

addConstraint

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

addActuatedJoint

public void addActuatedJoint(InverseDynamicsJoint joint)

getConstrainedCenterOfMassJacobian

public org.ejml.data.DenseMatrix64F getConstrainedCenterOfMassJacobian()

getCenterOfMassJacobian

public org.ejml.data.DenseMatrix64F getCenterOfMassJacobian()