com.yobotics.simulationconstructionset
Class SpatialInertiaMatrix

java.lang.Object
  extended by com.yobotics.simulationconstructionset.SpatialInertiaMatrix
All Implemented Interfaces:
java.io.Serializable

public final class SpatialInertiaMatrix
extends java.lang.Object
implements java.io.Serializable

Title: Yobotics! Simulation Construction Set

Description: Package for Simulating Dynamic Robots and Mechanisms

Copyright: Copyright (c) Jerry Pratt

Company: Yobotics, Inc.

Version:
Beta 1.0
Author:
Jerry Pratt
See Also:
Serialized Form

Field Summary
 javax.vecmath.Matrix3d A
           
 javax.vecmath.Matrix3d B
           
 javax.vecmath.Matrix3d C
           
 javax.vecmath.Matrix3d D
           
 
Constructor Summary
SpatialInertiaMatrix()
           
 
Method Summary
 void add(SpatialInertiaMatrix M2)
           
 void add(SpatialInertiaMatrix M1, SpatialInertiaMatrix M2)
           
 void getMatrix(Matrix M)
           
 void getPlanarXYMatrix(Matrix M)
           
 void getPlanarXZMatrix(Matrix M)
           
 void getPlanarYZMatrix(Matrix M)
           
 void Iss_sIs(SpatialInertiaMatrix I_hat_i, SpatialVector s_hat_i, double sIs)
           
 void IssI(SpatialInertiaMatrix I_hat_i, SpatialVector s_hat_i, double sIs)
           
 void multiply(SpatialVector sV)
           
 void oneMinus()
           
 void setInitArticulatedInertia(double mass, javax.vecmath.Matrix3d Inertia)
           
 void setInnerMul(javax.vecmath.Matrix3d M, javax.vecmath.Vector3d v1, javax.vecmath.Vector3d v2)
           
 double sIs(SpatialVector s)
           
 void sub(SpatialInertiaMatrix M2)
           
 void sub(SpatialInertiaMatrix M1, SpatialInertiaMatrix M2)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

A

public javax.vecmath.Matrix3d A

B

public javax.vecmath.Matrix3d B

C

public javax.vecmath.Matrix3d C

D

public javax.vecmath.Matrix3d D
Constructor Detail

SpatialInertiaMatrix

public SpatialInertiaMatrix()
Method Detail

sIs

public double sIs(SpatialVector s)

toString

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

multiply

public void multiply(SpatialVector sV)

sub

public void sub(SpatialInertiaMatrix M2)

add

public void add(SpatialInertiaMatrix M2)

add

public void add(SpatialInertiaMatrix M1,
                SpatialInertiaMatrix M2)

sub

public void sub(SpatialInertiaMatrix M1,
                SpatialInertiaMatrix M2)

getMatrix

public void getMatrix(Matrix M)

getPlanarXYMatrix

public void getPlanarXYMatrix(Matrix M)

getPlanarXZMatrix

public void getPlanarXZMatrix(Matrix M)

getPlanarYZMatrix

public void getPlanarYZMatrix(Matrix M)

setInitArticulatedInertia

public void setInitArticulatedInertia(double mass,
                                      javax.vecmath.Matrix3d Inertia)

oneMinus

public void oneMinus()

Iss_sIs

public void Iss_sIs(SpatialInertiaMatrix I_hat_i,
                    SpatialVector s_hat_i,
                    double sIs)

IssI

public void IssI(SpatialInertiaMatrix I_hat_i,
                 SpatialVector s_hat_i,
                 double sIs)

setInnerMul

public void setInnerMul(javax.vecmath.Matrix3d M,
                        javax.vecmath.Vector3d v1,
                        javax.vecmath.Vector3d v2)