com.yobotics.simulationconstructionset
Class SpatialInertiaMatrix
java.lang.Object
com.yobotics.simulationconstructionset.SpatialInertiaMatrix
- All Implemented Interfaces:
- java.io.Serializable
public final class SpatialInertiaMatrix
- extends java.lang.Object
- implements java.io.Serializable
Title: Yobotics! Simulation Construction Set
Description: Package for Simulating Dynamic Robots and Mechanisms
Copyright: Copyright (c) Jerry Pratt
Company: Yobotics, Inc.
- Version:
- Beta 1.0
- Author:
- Jerry Pratt
- See Also:
- Serialized Form
Field Summary |
javax.vecmath.Matrix3d |
A
|
javax.vecmath.Matrix3d |
B
|
javax.vecmath.Matrix3d |
C
|
javax.vecmath.Matrix3d |
D
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
A
public javax.vecmath.Matrix3d A
B
public javax.vecmath.Matrix3d B
C
public javax.vecmath.Matrix3d C
D
public javax.vecmath.Matrix3d D
SpatialInertiaMatrix
public SpatialInertiaMatrix()
sIs
public double sIs(SpatialVector s)
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
multiply
public void multiply(SpatialVector sV)
sub
public void sub(SpatialInertiaMatrix M2)
add
public void add(SpatialInertiaMatrix M2)
add
public void add(SpatialInertiaMatrix M1,
SpatialInertiaMatrix M2)
sub
public void sub(SpatialInertiaMatrix M1,
SpatialInertiaMatrix M2)
getMatrix
public void getMatrix(Matrix M)
getPlanarXYMatrix
public void getPlanarXYMatrix(Matrix M)
getPlanarXZMatrix
public void getPlanarXZMatrix(Matrix M)
getPlanarYZMatrix
public void getPlanarYZMatrix(Matrix M)
setInitArticulatedInertia
public void setInitArticulatedInertia(double mass,
javax.vecmath.Matrix3d Inertia)
oneMinus
public void oneMinus()
Iss_sIs
public void Iss_sIs(SpatialInertiaMatrix I_hat_i,
SpatialVector s_hat_i,
double sIs)
IssI
public void IssI(SpatialInertiaMatrix I_hat_i,
SpatialVector s_hat_i,
double sIs)
setInnerMul
public void setInnerMul(javax.vecmath.Matrix3d M,
javax.vecmath.Vector3d v1,
javax.vecmath.Vector3d v2)