us.ihmc.utilities.screwTheory
Class DifferentialIDMassMatrixCalculator

java.lang.Object
  extended by us.ihmc.utilities.screwTheory.DifferentialIDMassMatrixCalculator
All Implemented Interfaces:
MassMatrixCalculator

public class DifferentialIDMassMatrixCalculator
extends java.lang.Object
implements MassMatrixCalculator

Very inefficient. Should only be used for verification of better methods in unit tests


Constructor Summary
DifferentialIDMassMatrixCalculator(ReferenceFrame inertialFrame, RigidBody rootBody)
           
 
Method Summary
 void compute()
           
 InverseDynamicsJoint[] getJointsInOrder()
           
 org.ejml.data.DenseMatrix64F getMassMatrix()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DifferentialIDMassMatrixCalculator

public DifferentialIDMassMatrixCalculator(ReferenceFrame inertialFrame,
                                          RigidBody rootBody)
Method Detail

compute

public void compute()
Specified by:
compute in interface MassMatrixCalculator

getMassMatrix

public org.ejml.data.DenseMatrix64F getMassMatrix()
Specified by:
getMassMatrix in interface MassMatrixCalculator

getJointsInOrder

public InverseDynamicsJoint[] getJointsInOrder()
Specified by:
getJointsInOrder in interface MassMatrixCalculator