- <init>
Creates a new SpatialAccelerationCalculator that will compute all the spatial
accelerations of all t
- compute
Updates the internal memory to the new system state (configuration, velocity,
and acceleration). Thi
- getLinearAccelerationOfBodyFixedPoint
Computes and packs the linear acceleration of the point bodyFixedPoint that is
attached to body with
- getRootBody
Returns the reference to the root body of the system for which this twist
calculator is available.
- getRelativeAcceleration
Computes and packs the spatial acceleration of the bodyrelative to the given
base. The resulting spa
- addAllPrecedingJoints
- computeSuccessorAcceleration
- getAccelerationOfBody
Packs the spatial acceleration of the given rigidBody. The resulting spatial
acceleration is the acc
- populateMapsAndLists
- setRootAcceleration
Changes the spatial acceleration of the root. Even though the root is assumed to
be non-moving, the