us.ihmc.utilities.screwTheory
Class RigidBody

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

public class RigidBody
extends java.lang.Object


Constructor Summary
RigidBody(java.lang.String name, ReferenceFrame rootBodyFrame)
           
RigidBody(java.lang.String name, RigidBodyInertia inertia, InverseDynamicsJoint parentJoint)
           
 
Method Summary
 void addChildJoint(InverseDynamicsJoint joint)
           
 ReferenceFrame getBodyFixedFrame()
           
 java.util.List<InverseDynamicsJoint> getChildrenJoints()
           
 RigidBodyInertia getInertia()
           
 RigidBodyInertia getInertiaCopy()
           
 java.lang.String getName()
           
 InverseDynamicsJoint getParentJoint()
           
 boolean hasChildrenJoints()
           
 boolean isRootBody()
           
 void packCoMOffset(FramePoint comOffsetToPack)
           
 java.lang.String toString()
           
 void updateFramesRecursively()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

RigidBody

public RigidBody(java.lang.String name,
                 ReferenceFrame rootBodyFrame)

RigidBody

public RigidBody(java.lang.String name,
                 RigidBodyInertia inertia,
                 InverseDynamicsJoint parentJoint)
Method Detail

getInertia

public RigidBodyInertia getInertia()

getInertiaCopy

public RigidBodyInertia getInertiaCopy()

getBodyFixedFrame

public ReferenceFrame getBodyFixedFrame()

getParentJoint

public InverseDynamicsJoint getParentJoint()

addChildJoint

public void addChildJoint(InverseDynamicsJoint joint)

getChildrenJoints

public java.util.List<InverseDynamicsJoint> getChildrenJoints()

hasChildrenJoints

public boolean hasChildrenJoints()

isRootBody

public boolean isRootBody()

getName

public java.lang.String getName()

packCoMOffset

public void packCoMOffset(FramePoint comOffsetToPack)

updateFramesRecursively

public void updateFramesRecursively()

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object