us.ihmc.utilities.screwTheory
Interface DynamicallyConsistentNullspaceCalculator
- All Known Implementing Classes:
- OriginalDynamicallyConsistentNullspaceCalculator
public interface DynamicallyConsistentNullspaceCalculator
- Author:
- twan
Date: 4/17/13
reset
void reset()
addConstraint
void addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
addActuatedJoint
void addActuatedJoint(InverseDynamicsJoint joint)
compute
void compute()
getDynamicallyConsistentNullspace
org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()
getSNsBar
org.ejml.data.DenseMatrix64F getSNsBar()