Changes the base frame, assuming there is no relative acceleration between the old base frame and the new base frame
A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a)
http://sites.google.com/site/vincentduindam/publications
Changes the base frame, assuming there is no relative twist between the old base frame and the new base frame
A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a)
http://sites.google.com/site/vincentduindam/publications
Changes the body frame, assuming there is no relative acceleration between the old body frame and the new body frame
A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a)
http://sites.google.com/site/vincentduindam/publications
Changes the body frame, assuming there is no relative twist between the old body frame and the new body frame
A consequence of Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (a)
http://sites.google.com/site/vincentduindam/publications
Changes the reference frame in which this spatial acceleration vector is expressed
See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25.
Changes the reference frame in which this spatial force vector is expressed
See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 36, eq.
Changes the reference frame in which this spatial motion vector is expressed
See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 25, lemma 2.8 (c)
http://sites.google.com/site/vincentduindam/publications
Changes the reference frame in which this spatial motion vector is expressed, in case the new frame in which this acceleration
should be expressed does not move with respect to the old one.
Calculates the y coordinate of the spline corresponding to the x coordinate
resultToPack is a 2-dimensional array with
resultToPack[spline][derivative], where the 0th derivative is the position, 1st velocity etc...
Sets the accelerations for the RevoluteJoints in legJoints
Assumes that the swingLegJacobian is already updated
Assumes that the rootJoint's acceleration has already been set
Sets the accelerations for the RevoluteJoints in legJoints
Assumes that the swingLegJacobian is already updated
Assumes that the rootJoint's acceleration has already been set
Computes the Center of Mass location and total linear and angular momentum
about the center of mass for the subtree rooted at the specified root
Joint.
Computes the kinetic co-energy of the rigid body to which this inertia belongs
twistTranspose * Inertia * twist
See Duindam, Port-Based Modeling and Control for Efficient Bipedal Walking Robots, page 40, eq.
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)