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java.lang.Objectus.ihmc.utilities.screwTheory.SpatialForceVector
us.ihmc.utilities.screwTheory.Momentum
public class Momentum
Field Summary |
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Fields inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector |
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AXIS_NAMES, SIZE |
Constructor Summary | |
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Momentum()
Default constructor. |
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Momentum(Momentum other)
Copy constructor |
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Momentum(ReferenceFrame expressedInFrame)
Initializes the components of the momentum to zero |
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Momentum(ReferenceFrame expressedInFrame,
org.ejml.data.DenseMatrix64F matrix)
Construct using a Matrix ([angular; linear]) |
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Momentum(ReferenceFrame expressedInFrame,
double[] momentum)
Construct using a double array ([angular; linear]) |
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Momentum(ReferenceFrame expressedInFrame,
javax.vecmath.Vector3d linearPart,
javax.vecmath.Vector3d angularPart)
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Method Summary | |
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void |
compute(GeneralizedRigidBodyInertia inertia,
Twist twist)
Sets this momentum to inertia * twist |
double |
computeKineticCoEnergy(Twist twist)
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java.lang.String |
toString()
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Methods inherited from class us.ihmc.utilities.screwTheory.SpatialForceVector |
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add, addAngularPart, addLinearPart, changeFrame, checkAndSet, createUsingArm, getAngularPartAsFrameVectorCopy, getAngularPartCopy, getExpressedInFrame, getLinearPartAsFrameVectorCopy, getLinearPartCopy, negate, packAngularPart, packAngularPart, packLinearPart, packLinearPart, packMatrix, packMatrix, packMatrixColumn, scale, scaleAngularPart, scaleLinearPart, set, set, set, set, setAngularPart, setAngularPartX, setAngularPartY, setAngularPartZ, setLinearPart, setLinearPartX, setLinearPartY, setLinearPartZ, setToZero, setUsingArm, sub, subAngularPart, subLinearPart, times, toDenseMatrix |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public Momentum()
public Momentum(ReferenceFrame expressedInFrame, double[] momentum)
public Momentum(ReferenceFrame expressedInFrame, org.ejml.data.DenseMatrix64F matrix)
public Momentum(ReferenceFrame expressedInFrame, javax.vecmath.Vector3d linearPart, javax.vecmath.Vector3d angularPart)
expressedInFrame
- the frame in which the momentum is expressedlinearPart
- linear momentumangularPart
- angular momentumpublic Momentum(ReferenceFrame expressedInFrame)
expressedInFrame
- the frame in which the momentum is expressedpublic Momentum(Momentum other)
Method Detail |
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public void compute(GeneralizedRigidBodyInertia inertia, Twist twist)
public double computeKineticCoEnergy(Twist twist)
public java.lang.String toString()
toString
in class SpatialForceVector
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