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java.lang.Objectus.ihmc.utilities.screwTheory.CompositeRigidBodyMassMatrixCalculator
public class CompositeRigidBodyMassMatrixCalculator
Constructor Summary | |
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CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
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Method Summary | |
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void |
compute()
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InverseDynamicsJoint[] |
getJointsInOrder()
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org.ejml.data.DenseMatrix64F |
getMassMatrix()
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
Method Detail |
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public void compute()
compute
in interface MassMatrixCalculator
public org.ejml.data.DenseMatrix64F getMassMatrix()
getMassMatrix
in interface MassMatrixCalculator
public InverseDynamicsJoint[] getJointsInOrder()
getJointsInOrder
in interface MassMatrixCalculator
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