us.ihmc.utilities.screwTheory
Class DesiredJointAccelerationCalculator

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

public class DesiredJointAccelerationCalculator
extends java.lang.Object


Constructor Summary
DesiredJointAccelerationCalculator(GeometricJacobian jacobian, org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> jacobianSolver)
           
 
Method Summary
 void compute(SpatialAccelerationVector accelerationOfEndEffectorWithRespectToBase)
          Sets the accelerations for the RevoluteJoints in legJoints Assumes that the swingLegJacobian is already updated Assumes that the rootJoint's acceleration has already been set
 void computeJacobianDerivativeTerm(SpatialAccelerationVector accelerationToPack)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DesiredJointAccelerationCalculator

public DesiredJointAccelerationCalculator(GeometricJacobian jacobian,
                                          org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> jacobianSolver)
Method Detail

compute

public void compute(SpatialAccelerationVector accelerationOfEndEffectorWithRespectToBase)
Sets the accelerations for the RevoluteJoints in legJoints Assumes that the swingLegJacobian is already updated Assumes that the rootJoint's acceleration has already been set


computeJacobianDerivativeTerm

public void computeJacobianDerivativeTerm(SpatialAccelerationVector accelerationToPack)