artisynth.core.mechmodels
Class FrameBlock

java.lang.Object
  extended by maspack.matrix.MatrixBase
      extended by maspack.matrix.DenseMatrixBase
          extended by maspack.matrix.Matrix6dBase
              extended by maspack.matrix.Matrix6d
                  extended by maspack.matrix.Matrix6dBlock
                      extended by artisynth.core.mechmodels.FrameBlock
All Implemented Interfaces:
java.lang.Cloneable, DenseMatrix, LinearTransformNd, Matrix, MatrixBlock, Clonable

public class FrameBlock
extends Matrix6dBlock


Nested Class Summary
 
Nested classes/interfaces inherited from interface maspack.matrix.Matrix
Matrix.Partition, Matrix.WriteFormat
 
Field Summary
 
Fields inherited from class maspack.matrix.Matrix6d
ZERO
 
Fields inherited from class maspack.matrix.Matrix6dBase
m00, m01, m02, m03, m04, m05, m10, m11, m12, m13, m14, m15, m20, m21, m22, m23, m24, m25, m30, m31, m32, m33, m34, m35, m40, m41, m42, m43, m44, m45, m50, m51, m52, m53, m54, m55
 
Fields inherited from interface maspack.matrix.Matrix
INDEFINITE, POSITIVE_DEFINITE, SPD, SYMMETRIC
 
Constructor Summary
FrameBlock(Frame frame)
           
 
Method Summary
 void addFrameDamping(double dt, double dr)
           
 void addInertiaToBlock(SpatialInertia M)
           
 void set(Frame frame)
           
 
Methods inherited from class maspack.matrix.Matrix6dBlock
add, addNumNonZerosByCol, addNumNonZerosByRow, clone, down, getBlockCCSIndices, getBlockCCSValues, getBlockCol, getBlockCRSIndices, getBlockCRSValues, getBlockNumber, getBlockRow, mulAdd, mulTransposeAdd, next, scaledAdd, setBlockCol, setBlockNumber, setBlockRow, setDown, setNext, sub, valueIsNonZero
 
Methods inherited from class maspack.matrix.Matrix6d
add, add, addSubMatrix00, addSubMatrix03, addSubMatrix30, addSubMatrix33, getSubMatrix00, getSubMatrix03, getSubMatrix30, getSubMatrix33, inverseTransform, inverseTransform, invert, mul, mul, mulInverse, mulInverseBoth, mulInverseLeft, mulInverseRight, mulTranspose, mulTransposeBoth, mulTransposeLeft, mulTransposeRight, negate, scale, scale, setDiagonal, setDiagonal, setLowerToUpper, setRandom, setRandom, setRandom, setSubMatrix00, setSubMatrix03, setSubMatrix30, setSubMatrix33, setZero, sub, sub, transform, transform, transpose
 
Methods inherited from class maspack.matrix.Matrix6dBase
colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, get, getColumn, getColumn, getRow, getRow, infinityNorm, invert, mul, mul, mulInverse, mulInverse, mulInverseTranspose, mulInverseTranspose, mulTranspose, mulTranspose, negate, oneNorm, rowSize, scaledAdd, set, set, set, set, setColumn, setIdentity, setRow, transpose
 
Methods inherited from class maspack.matrix.DenseMatrixBase
add, checkConsistency, set, set, set, setCCSValues, setColumn, setCRSValues, setRow, setSubMatrix
 
Methods inherited from class maspack.matrix.MatrixBase
containsNaN, epsilonEquals, equals, get, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getColumn, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getDefaultFormat, getRow, getSize, getSubMatrix, hasNaN, idString, isFixedSize, isSymmetric, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, scan, setCRSValues, setDefaultFormat, setSize, toString, toString, toString, trace, write, write, write, write, write, writeToFile
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 
Methods inherited from interface maspack.matrix.MatrixBlock
scale, setZero
 
Methods inherited from interface maspack.matrix.DenseMatrix
set, set, set, setColumn, setColumn, setRow, setRow, setSubMatrix
 
Methods inherited from interface maspack.matrix.Matrix
checkConsistency, colSize, determinant, epsilonEquals, equals, frobeniusNorm, get, get, getCCSIndices, getCCSIndices, getCCSValues, getCCSValues, getColumn, getColumn, getColumn, getCRSIndices, getCRSIndices, getCRSValues, getCRSValues, getRow, getRow, getRow, getSize, getSubMatrix, infinityNorm, isFixedSize, isSymmetric, mul, mul, mul, mulAdd, mulAdd, mulAdd, mulTranspose, mulTranspose, mulTranspose, mulTransposeAdd, mulTransposeAdd, mulTransposeAdd, numNonZeroVals, numNonZeroVals, oneNorm, rowSize, scan, set, set, setCCSValues, setCRSValues, setSize, toString, trace, write, write, write
 

Constructor Detail

FrameBlock

public FrameBlock(Frame frame)
Method Detail

set

public void set(Frame frame)

addInertiaToBlock

public void addInertiaToBlock(SpatialInertia M)

addFrameDamping

public void addFrameDamping(double dt,
                            double dr)