com.yobotics.simulationconstructionset
Class SpatialTransformationMatrix

java.lang.Object
  extended by com.yobotics.simulationconstructionset.SpatialTransformationMatrix
All Implemented Interfaces:
java.io.Serializable

public final class SpatialTransformationMatrix
extends java.lang.Object
implements java.io.Serializable

Title: Yobotics! Simulation Construction Set

Description: Package for Simulating Dynamic Robots and Mechanisms

Copyright: Copyright (c) Jerry Pratt

Company: Yobotics, Inc.

Version:
Beta 1.0
Author:
Jerry Pratt
See Also:
Serialized Form

Constructor Summary
SpatialTransformationMatrix()
           
 
Method Summary
 void invert()
           
 void set(SpatialTransformationMatrix Min)
           
 void setFromOffsetAndRotation(javax.vecmath.Vector3d r_i, javax.vecmath.Matrix3d Rin)
           
 java.lang.String toString()
           
 void transform(SpatialVector v1)
           
 void transformSpatialInertia(SpatialInertiaMatrix I)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

SpatialTransformationMatrix

public SpatialTransformationMatrix()
Method Detail

toString

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

setFromOffsetAndRotation

public void setFromOffsetAndRotation(javax.vecmath.Vector3d r_i,
                                     javax.vecmath.Matrix3d Rin)

set

public void set(SpatialTransformationMatrix Min)

invert

public void invert()

transform

public void transform(SpatialVector v1)

transformSpatialInertia

public void transformSpatialInertia(SpatialInertiaMatrix I)