us.ihmc.utilities.screwTheory
Class CenterOfMassJacobian
java.lang.Object
us.ihmc.utilities.screwTheory.CenterOfMassJacobian
public class CenterOfMassJacobian
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
CenterOfMassJacobian
public CenterOfMassJacobian(RigidBody rootBody)
CenterOfMassJacobian
public CenterOfMassJacobian(RigidBody[] rigidBodies,
ReferenceFrame rootFrame)
CenterOfMassJacobian
public CenterOfMassJacobian(RigidBody[] rigidBodies,
InverseDynamicsJoint[] joints,
ReferenceFrame rootFrame)
recomputeSubtreeMassesAndTotalMass
public void recomputeSubtreeMassesAndTotalMass()
compute
public void compute()
getMatrix
public org.ejml.data.DenseMatrix64F getMatrix()
packCenterOfMassVelocity
public void packCenterOfMassVelocity(FrameVector centerOfMassVelocityToPack)