us.ihmc.utilities.screwTheory
Class CentroidalMomentumMatrix

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

public class CentroidalMomentumMatrix
extends java.lang.Object


Constructor Summary
CentroidalMomentumMatrix(RigidBody rootBody, ReferenceFrame centerOfMassFrame)
           
 
Method Summary
 void compute()
           
 org.ejml.data.DenseMatrix64F getMatrix()
           
 ReferenceFrame getReferenceFrame()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CentroidalMomentumMatrix

public CentroidalMomentumMatrix(RigidBody rootBody,
                                ReferenceFrame centerOfMassFrame)
Method Detail

compute

public void compute()

getMatrix

public org.ejml.data.DenseMatrix64F getMatrix()

getReferenceFrame

public ReferenceFrame getReferenceFrame()