hmi.physics.inversedynamics
Class IDBranch

java.lang.Object
  hmi.physics.inversedynamics.IDBranch

public class IDBranch
extends Object

Branch of connected rigid bodies, for which ID is to be solved

Author:

welberge

Field Summary

private int	chainSize
private IDSegment	root
private IDSegment[]	segments
RNEASolver	solver

Constructor Summary

IDBranch()

Method Summary

private int	fillSegments(IDSegment seg, int[] parents, int nr, int p)
float	getMassOffset(float[] connectorTransform, float[] q, int qIndex, float[] result)
float	getMassOffset(IDSegment seg, float[] transform, float[] q, int qIndex, float[] result, float mass)
IDSegment	getRoot()
IDSegment[]	getSegments()
int	getSize()
private int	getSize(IDSegment seg, int startSize)
void	setRoot(IDSegment root)
void	setupSolver()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

solver

public RNEASolver solver

root

private IDSegment root

segments

private IDSegment[] segments

chainSize

private int chainSize

Constructor Detail

IDBranch

public IDBranch()

Method Detail

getSegments

public IDSegment[] getSegments()

setRoot

public void setRoot(IDSegment root)

Parameters:

root - the root to set

getSize

private int getSize(IDSegment seg,
                    int startSize)

fillSegments

private int fillSegments(IDSegment seg,
                         int[] parents,
                         int nr,
                         int p)

getMassOffset

public float getMassOffset(IDSegment seg,
                           float[] transform,
                           float[] q,
                           int qIndex,
                           float[] result,
                           float mass)

getMassOffset

public float getMassOffset(float[] connectorTransform,
                           float[] q,
                           int qIndex,
                           float[] result)

setupSolver

public void setupSolver()

getSize

public int getSize()

Returns:

the chainSize

getRoot

public IDSegment getRoot()

Returns:

the root