Commit b0fa5060 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

made compute jacobian and recursiveComputePosition public

parent 2de58c5b
......@@ -98,6 +98,12 @@ namespace hpp {
virtual void computePosition (ConfigurationIn_t configuration,
const Transform3f& parentPosition,
Transform3f& position) const = 0;
/// Compute position of this joint and all its descendents.
void recursiveComputePosition (ConfigurationIn_t configuration,
const Transform3f& parentPosition) const;
/// Compute jacobian matrix of joint and all its descendents.
void computeJacobian ();
/// Get neutral configuration of joint
///
......@@ -298,10 +304,6 @@ namespace hpp {
value_type maximalDistanceToParent_;
vector_t neutralConfiguration_;
private:
/// Compute position of this joint and all its descendents.
void recursiveComputePosition (ConfigurationIn_t configuration,
const Transform3f& parentPosition) const;
/// Write a block of Jacobian
///
/// child: joint the motion of which is generated by the degrees of
......@@ -313,7 +315,6 @@ namespace hpp {
/// in the velocity vector, the method fills colums from index to index +
/// this joint number of degrees of freedom.
virtual void writeSubJacobian (const JointPtr_t& child) = 0;
void computeJacobian ();
/// Compute mass of this and all descendants
value_type computeMass ();
/// Compute the product m * com
......
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