artisynth.core.mechmodels
Class FrameSpringTest
java.lang.Object
artisynth.core.mechmodels.FrameSpringTest
public class FrameSpringTest
- extends java.lang.Object
Method Summary |
MatrixNd |
computePosJacobian(Twist velA,
Twist velB)
|
MatrixNd |
computeVelJacobian(Twist velA,
Twist velB)
|
static Vector3d |
getRQ(RotationMatrix3d R)
|
static void |
main(java.lang.String[] args)
|
MatrixNd |
numericPosJacobian(Twist velA,
Twist velB)
|
MatrixNd |
numericVelJacobian(Twist velA,
Twist velB)
|
void |
special(Twist velA,
Twist velB)
|
static void |
test(FrameSpringTest deriv,
FrameMaterial mat,
Twist velA,
Twist velB,
boolean printData,
double errLim)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
special
public void special(Twist velA,
Twist velB)
numericPosJacobian
public MatrixNd numericPosJacobian(Twist velA,
Twist velB)
computeVelJacobian
public MatrixNd computeVelJacobian(Twist velA,
Twist velB)
computePosJacobian
public MatrixNd computePosJacobian(Twist velA,
Twist velB)
numericVelJacobian
public MatrixNd numericVelJacobian(Twist velA,
Twist velB)
getRQ
public static Vector3d getRQ(RotationMatrix3d R)
test
public static void test(FrameSpringTest deriv,
FrameMaterial mat,
Twist velA,
Twist velB,
boolean printData,
double errLim)
main
public static void main(java.lang.String[] args)