Esempio n. 1
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 bool changeRefPoint(const MomentumJacobian& src1, const Vector& base_AB, MomentumJacobian& dest)
 {
     if(src1.columns()!=dest.columns())
         return false;
     for(unsigned int i=0;i<src1.columns();i++)
         dest.setColumn(i,src1.getColumn(i).RefPoint(base_AB));
     return true;
 }
Esempio n. 2
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 bool changeBase(const MomentumJacobian& src1, const Rotation& rot, MomentumJacobian& dest)
 {
     if(src1.columns()!=dest.columns())
         return false;
     for(unsigned int i=0;i<src1.columns();i++)
         dest.setColumn(i,rot*src1.getColumn(i));;
     return true;
 }
Esempio n. 3
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 bool changeRefFrame(const MomentumJacobian& src1,const Frame& frame, MomentumJacobian& dest)
 {
     if(src1.columns()!=dest.columns())
         return false;
     for(unsigned int i=0;i<src1.columns();i++)
         dest.setColumn(i,frame*src1.getColumn(i));
     return true;
 }
Esempio n. 4
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 bool multiplyInertiaJacobian(const Jacobian& src, const RigidBodyInertia& I, MomentumJacobian& dest)
 {
     if(src.columns()!=dest.columns())
         return false;
     for(unsigned int i=0;i<src.columns();i++)
         dest.setColumn(i,I*src.getColumn(i));;
     return true;
 }