us.ihmc.utilities.screwTheory
Class RigidBody
java.lang.Object
us.ihmc.utilities.screwTheory.RigidBody
public class RigidBody
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
RigidBody
public RigidBody(java.lang.String name,
ReferenceFrame rootBodyFrame)
RigidBody
public RigidBody(java.lang.String name,
RigidBodyInertia inertia,
InverseDynamicsJoint parentJoint)
getInertia
public RigidBodyInertia getInertia()
getInertiaCopy
public RigidBodyInertia getInertiaCopy()
getBodyFixedFrame
public ReferenceFrame getBodyFixedFrame()
getParentJoint
public InverseDynamicsJoint getParentJoint()
addChildJoint
public void addChildJoint(InverseDynamicsJoint joint)
getChildrenJoints
public java.util.List<InverseDynamicsJoint> getChildrenJoints()
hasChildrenJoints
public boolean hasChildrenJoints()
isRootBody
public boolean isRootBody()
getName
public java.lang.String getName()
packCoMOffset
public void packCoMOffset(FramePoint comOffsetToPack)
updateFramesRecursively
public void updateFramesRecursively()
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object