us.ihmc.utilities.screwTheory
Class TwistCalculator
java.lang.Object
us.ihmc.utilities.screwTheory.TwistCalculator
public class TwistCalculator
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
TwistCalculator
public TwistCalculator(ReferenceFrame inertialFrame,
RigidBody body)
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()