artisynth.core.mechmodels

Class FrameSpringTest

java.lang.Object

artisynth.core.mechmodels.FrameSpringTest

public class FrameSpringTest
extends java.lang.Object

Method Summary

Modifier and Type	Method and Description
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)