us.ihmc.utilities.screwTheory
Class ConstrainedCenterOfMassJacobianCalculator
java.lang.Object
us.ihmc.utilities.screwTheory.ConstrainedCenterOfMassJacobianCalculator
public class ConstrainedCenterOfMassJacobianCalculator
- extends java.lang.Object
- Author:
- twan
Date: 4/15/13
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ConstrainedCenterOfMassJacobianCalculator
public ConstrainedCenterOfMassJacobianCalculator(SixDoFJoint rootJoint)
compute
public void compute()
reset
public void reset()
addConstraint
public void addConstraint(RigidBody body,
org.ejml.data.DenseMatrix64F selectionMatrix)
addActuatedJoint
public void addActuatedJoint(InverseDynamicsJoint joint)
getConstrainedCenterOfMassJacobian
public org.ejml.data.DenseMatrix64F getConstrainedCenterOfMassJacobian()
getCenterOfMassJacobian
public org.ejml.data.DenseMatrix64F getCenterOfMassJacobian()