us.ihmc.utilities.screwTheory
Class TwistCalculator

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

public class TwistCalculator
extends java.lang.Object


Constructor Summary
TwistCalculator(ReferenceFrame inertialFrame, RigidBody body)
           
 
Method Summary
 void compute()
           
 RigidBody getRootBody()
           
 void packRelativeTwist(Twist twistToPack, RigidBody base, RigidBody body)
           
 void packTwistOfBody(Twist twistToPack, RigidBody rigidBody)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TwistCalculator

public TwistCalculator(ReferenceFrame inertialFrame,
                       RigidBody body)
Method Detail

compute

public void compute()

packTwistOfBody

public void packTwistOfBody(Twist twistToPack,
                            RigidBody rigidBody)

packRelativeTwist

public void packRelativeTwist(Twist twistToPack,
                              RigidBody base,
                              RigidBody body)

getRootBody

public RigidBody getRootBody()