us.ihmc.utilities.screwTheory
Class SpatialAccelerationCalculator

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

public class SpatialAccelerationCalculator
extends java.lang.Object


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

SpatialAccelerationCalculator

public SpatialAccelerationCalculator(RigidBody body,
                                     ReferenceFrame inertialFrame,
                                     SpatialAccelerationVector rootAcceleration,
                                     TwistCalculator twistCalculator,
                                     boolean doVelocityTerms,
                                     boolean useDesireds)

SpatialAccelerationCalculator

public SpatialAccelerationCalculator(RigidBody rootBody,
                                     TwistCalculator twistCalculator,
                                     double gravity,
                                     boolean useDesireds)
Method Detail

compute

public void compute()

packAccelerationOfBody

public void packAccelerationOfBody(SpatialAccelerationVector spatialAccelerationToPack,
                                   RigidBody rigidBody)

packRelativeAcceleration

public void packRelativeAcceleration(SpatialAccelerationVector endEffectorAcceleration,
                                     RigidBody base,
                                     RigidBody body)

packLinearAccelerationOfBodyFixedPoint

public void packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
                                                   RigidBody base,
                                                   RigidBody body,
                                                   FramePoint bodyFixedPoint)

packLinearAccelerationOfBodyFixedPoint

public void packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack,
                                                   RigidBody body,
                                                   FramePoint bodyFixedPoint)

getRootBody

public RigidBody getRootBody()

getInertialFrame

public ReferenceFrame getInertialFrame()