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java.lang.Objectus.ihmc.utilities.screwTheory.DesiredJointAccelerationCalculator
public class DesiredJointAccelerationCalculator
Constructor Summary | |
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DesiredJointAccelerationCalculator(GeometricJacobian jacobian,
org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> jacobianSolver)
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Method Summary | |
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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)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public DesiredJointAccelerationCalculator(GeometricJacobian jacobian, org.ejml.factory.LinearSolver<org.ejml.data.DenseMatrix64F> jacobianSolver)
Method Detail |
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public void compute(SpatialAccelerationVector accelerationOfEndEffectorWithRespectToBase)
public void computeJacobianDerivativeTerm(SpatialAccelerationVector accelerationToPack)
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