|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectus.ihmc.utilities.screwTheory.SpatialAccelerationCalculator
public class SpatialAccelerationCalculator
Constructor Summary | |
---|---|
SpatialAccelerationCalculator(RigidBody body,
ReferenceFrame inertialFrame,
SpatialAccelerationVector rootAcceleration,
TwistCalculator twistCalculator,
boolean doVelocityTerms,
boolean useDesireds)
|
|
SpatialAccelerationCalculator(RigidBody rootBody,
TwistCalculator twistCalculator,
double gravity,
boolean useDesireds)
|
Method Summary | |
---|---|
void |
compute()
|
ReferenceFrame |
getInertialFrame()
|
RigidBody |
getRootBody()
|
void |
packAccelerationOfBody(SpatialAccelerationVector spatialAccelerationToPack,
RigidBody rigidBody)
|
void |
packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
RigidBody body,
FramePoint bodyFixedPoint)
|
void |
packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
RigidBody base,
RigidBody body,
FramePoint bodyFixedPoint)
|
void |
packRelativeAcceleration(SpatialAccelerationVector endEffectorAcceleration,
RigidBody base,
RigidBody body)
|
Methods inherited from class java.lang.Object |
---|
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
---|
public SpatialAccelerationCalculator(RigidBody body, ReferenceFrame inertialFrame, SpatialAccelerationVector rootAcceleration, TwistCalculator twistCalculator, boolean doVelocityTerms, boolean useDesireds)
public SpatialAccelerationCalculator(RigidBody rootBody, TwistCalculator twistCalculator, double gravity, boolean useDesireds)
Method Detail |
---|
public void compute()
public void packAccelerationOfBody(SpatialAccelerationVector spatialAccelerationToPack, RigidBody rigidBody)
public void packRelativeAcceleration(SpatialAccelerationVector endEffectorAcceleration, RigidBody base, RigidBody body)
public void packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack, RigidBody base, RigidBody body, FramePoint bodyFixedPoint)
public void packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack, RigidBody body, FramePoint bodyFixedPoint)
public RigidBody getRootBody()
public ReferenceFrame getInertialFrame()
|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |