us.ihmc.utilities.screwTheory
Class OriginalDynamicallyConsistentNullspaceCalculator

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.OriginalDynamicallyConsistentNullspaceCalculator
All Implemented Interfaces:
DynamicallyConsistentNullspaceCalculator

public class OriginalDynamicallyConsistentNullspaceCalculator
extends java.lang.Object
implements DynamicallyConsistentNullspaceCalculator

See: L. Sentis. Synthesis and Control of Whole-Body Behaviors in Humanoid Systems (2007)

Author:
twan Date: 4/15/13

Constructor Summary
OriginalDynamicallyConsistentNullspaceCalculator(SixDoFJoint rootJoint, boolean computeSNsBar)
           
 
Method Summary
 void addActuatedJoint(InverseDynamicsJoint joint)
           
 void addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void compute()
           
 org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()
           
 org.ejml.data.DenseMatrix64F getSNsBar()
           
 void reset()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

OriginalDynamicallyConsistentNullspaceCalculator

public OriginalDynamicallyConsistentNullspaceCalculator(SixDoFJoint rootJoint,
                                                        boolean computeSNsBar)
Method Detail

reset

public void reset()
Specified by:
reset in interface DynamicallyConsistentNullspaceCalculator

addConstraint

public void addConstraint(RigidBody body,
                          org.ejml.data.DenseMatrix64F selectionMatrix)
Specified by:
addConstraint in interface DynamicallyConsistentNullspaceCalculator

addActuatedJoint

public void addActuatedJoint(InverseDynamicsJoint joint)
Specified by:
addActuatedJoint in interface DynamicallyConsistentNullspaceCalculator

compute

public void compute()
Specified by:
compute in interface DynamicallyConsistentNullspaceCalculator

getDynamicallyConsistentNullspace

public org.ejml.data.DenseMatrix64F getDynamicallyConsistentNullspace()
Specified by:
getDynamicallyConsistentNullspace in interface DynamicallyConsistentNullspaceCalculator

getSNsBar

public org.ejml.data.DenseMatrix64F getSNsBar()
Specified by:
getSNsBar in interface DynamicallyConsistentNullspaceCalculator