us.ihmc.utilities.screwTheory
Class Momentum

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.SpatialForceVector
      extended by us.ihmc.utilities.screwTheory.Momentum

public class Momentum
extends SpatialForceVector


Field Summary
 
Fields inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector
AXIS_NAMES, SIZE
 
Constructor Summary
Momentum()
          Default constructor.
Momentum(Momentum other)
          Copy constructor
Momentum(ReferenceFrame expressedInFrame)
          Initializes the components of the momentum to zero
Momentum(ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
          Construct using a Matrix ([angular; linear])
Momentum(ReferenceFrame expressedInFrame, double[] momentum)
          Construct using a double array ([angular; linear])
Momentum(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
           
 
Method Summary
 void compute(GeneralizedRigidBodyInertia inertia, Twist twist)
          Sets this momentum to inertia * twist
 double computeKineticCoEnergy(Twist twist)
           
 java.lang.String toString()
           
 
Methods inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector
add, addAngularPart, addLinearPart, changeFrame, checkAndSet, createUsingArm, getAngularPartAsFrameVectorCopy, getAngularPartCopy, getExpressedInFrame, getLinearPartAsFrameVectorCopy, getLinearPartCopy, negate, packAngularPart, packAngularPart, packLinearPart, packLinearPart, packMatrix, packMatrix, packMatrixColumn, scale, scaleAngularPart, scaleLinearPart, set, set, set, set, setAngularPart, setAngularPartX, setAngularPartY, setAngularPartZ, setLinearPart, setLinearPartX, setLinearPartY, setLinearPartZ, setToZero, setUsingArm, sub, subAngularPart, subLinearPart, times, toDenseMatrix
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

Momentum

public Momentum()
Default constructor. Sets reference frames to null and angular and linear parts to zero.


Momentum

public Momentum(ReferenceFrame expressedInFrame,
                double[] momentum)
Construct using a double array ([angular; linear])


Momentum

public Momentum(ReferenceFrame expressedInFrame,
                org.ejml.data.DenseMatrix64F matrix)
Construct using a Matrix ([angular; linear])


Momentum

public Momentum(ReferenceFrame expressedInFrame,
                javax.vecmath.Vector3d linearPart,
                javax.vecmath.Vector3d angularPart)
Parameters:
expressedInFrame - the frame in which the momentum is expressed
linearPart - linear momentum
angularPart - angular momentum

Momentum

public Momentum(ReferenceFrame expressedInFrame)
Initializes the components of the momentum to zero

Parameters:
expressedInFrame - the frame in which the momentum is expressed

Momentum

public Momentum(Momentum other)
Copy constructor

Method Detail

compute

public void compute(GeneralizedRigidBodyInertia inertia,
                    Twist twist)
Sets this momentum to inertia * twist


computeKineticCoEnergy

public double computeKineticCoEnergy(Twist twist)

toString

public java.lang.String toString()
Overrides:
toString in class SpatialForceVector