us.ihmc.utilities.screwTheory
Class CenterOfMassCalculator

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

public class CenterOfMassCalculator
extends java.lang.Object


Constructor Summary
CenterOfMassCalculator(RigidBody[] rigidBodies, ReferenceFrame desiredFrame)
           
CenterOfMassCalculator(RigidBody rootBody, ReferenceFrame desiredFrame)
           
 
Method Summary
 void compute()
           
 FramePoint getCenterOfMass()
           
 double getTotalMass()
           
 void packCenterOfMass(FramePoint centerOfMassToPack)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CenterOfMassCalculator

public CenterOfMassCalculator(RigidBody rootBody,
                              ReferenceFrame desiredFrame)

CenterOfMassCalculator

public CenterOfMassCalculator(RigidBody[] rigidBodies,
                              ReferenceFrame desiredFrame)
Method Detail

compute

public void compute()

getCenterOfMass

public FramePoint getCenterOfMass()

packCenterOfMass

public void packCenterOfMass(FramePoint centerOfMassToPack)

getTotalMass

public double getTotalMass()