- <init>
Creates a new integrator and initializes the internal time increment to the
given dt.
- integrate
Integrates the given twist to estimate the finalPose. Pseudo-code:
finalPose = initialPose + dt * t
- integrateFromVelocity
Integrates the given joint's velocity to update its configuration.
- doubleIntegrate
Integrates the given spatialAcceleration and initialTwist to estimate the
finalPose and finalTwist.
- doubleIntegrateFromAcceleration
Integrates the given joint's acceleration and velocity to update its velocity
and configuration.
- doubleIntegrateFromAccelerationSubtree
Recursively navigates the subtree that starts at the given rootBody and
integrates each joint accele
- doubleIntegratePosition
Integrates the given acceleration and velocity to compute the next position.
Pseudo-code:
finalPos
- integrateFromVelocitySubtree
Recursively navigates the subtree that starts at the given rootBody and
integrates each joint veloci
- integratePosition
Integrates the given velocity to compute the next position. Pseudo-code:
finalPosition = initialPos
- setIntegrationDT
Changes the internal time increment to use for the integration.