us.ihmc.utilities.screwTheory
Class CentroidalMomentumMatrixTest

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

public class CentroidalMomentumMatrixTest
extends java.lang.Object


Constructor Summary
CentroidalMomentumMatrixTest()
           
 
Method Summary
static Momentum computeCoMMomentum(RigidBody elevator, ReferenceFrame centerOfMassFrame, CentroidalMomentumMatrix centroidalMomentumMatrix)
           
 void testFloatingBody()
           
 void testTree()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CentroidalMomentumMatrixTest

public CentroidalMomentumMatrixTest()
Method Detail

testTree

public void testTree()

testFloatingBody

public void testFloatingBody()

computeCoMMomentum

public static Momentum computeCoMMomentum(RigidBody elevator,
                                          ReferenceFrame centerOfMassFrame,
                                          CentroidalMomentumMatrix centroidalMomentumMatrix)