us.ihmc.utilities.screwTheory
Class DesiredJointAccelerationCalculatorOld

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

public class DesiredJointAccelerationCalculatorOld
extends java.lang.Object


Constructor Summary
DesiredJointAccelerationCalculatorOld(GeometricJacobian jacobian, JacobianSolver jacobianSolver)
           
 
Method Summary
 void compute(SpatialAccelerationVector accelerationOfEndEffectorWithRespectToBase)
          Sets the accelerations for the RevoluteJoints in legJoints Assumes that the swingLegJacobian is already updated Assumes that the rootJoint's acceleration has already been set
 void computeJacobianDerivativeTerm(SpatialAccelerationVector accelerationToPack)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DesiredJointAccelerationCalculatorOld

public DesiredJointAccelerationCalculatorOld(GeometricJacobian jacobian,
                                             JacobianSolver jacobianSolver)
Method Detail

compute

public void compute(SpatialAccelerationVector accelerationOfEndEffectorWithRespectToBase)
Sets the accelerations for the RevoluteJoints in legJoints Assumes that the swingLegJacobian is already updated Assumes that the rootJoint's acceleration has already been set


computeJacobianDerivativeTerm

public void computeJacobianDerivativeTerm(SpatialAccelerationVector accelerationToPack)