public ConstrainedCentroidalMomentumMatrixCalculator(FloatingJointBasics rootJoint, ReferenceFrame centerOfMassFrame, DenseMatrix64F selectionMatrix) { this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint, true); this.centroidalMomentumCalculator = new CentroidalMomentumCalculator(rootJoint.getSuccessor(), centerOfMassFrame); this.selectionMatrix = selectionMatrix; }
@Override public void compute() resizeMatrices(); computeS(S, jointsInOrder, actuatedJoints); computeJs(Js, supportingBodyToJointPathMap, constrainedBodiesAndSelectionMatrices);
@Override public void compute() resizeMatrices(); computeS(S, jointsInOrder, actuatedJoints); computeJs(Js, supportingBodyToJointPathMap, constrainedBodiesAndSelectionMatrices);
public ConstrainedCenterOfMassJacobianCalculator(FloatingInverseDynamicsJoint rootJoint) { this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint, true); this.centerOfMassJacobian = new CenterOfMassJacobian(rootJoint.getSuccessor()); }
public ConstrainedCentroidalMomentumMatrixCalculator(FloatingInverseDynamicsJoint rootJoint, ReferenceFrame centerOfMassFrame, DenseMatrix64F selectionMatrix) { this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint, true); this.centroidalMomentumMatrix = new CentroidalMomentumMatrix(rootJoint.getSuccessor(), centerOfMassFrame); this.selectionMatrix = selectionMatrix; }
public ConstrainedCenterOfMassJacobianCalculator(FloatingJointBasics rootJoint) { this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint, true); this.centerOfMassJacobian = new CenterOfMassJacobian(rootJoint.getSuccessor(), rootJoint.getSuccessor().getBodyFixedFrame()); }