artisynth.core.mechmodels
Class FrameSpringTest

java.lang.Object
  extended by 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
 

Method Detail

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)