- checkBodyFrameMatch
Checks if the body frame held by this matches the query bodyFrame.
- checkIfCenterOfMassOffsetIsZero
Checks that the center of mass offset is negligible.
- checkReferenceFrameMatch
Checks that all frames, i.e. the body frame and the "expressed in frame", are
identical between the
- computeDynamicWrench
Using Newton's second law of motion with a rigid-body to compute the net moment
from its acceleratio
- containsNaN
Tests whether any component of this spatial inertia matrix is equal to
Double#NaN.
- epsilonEquals
Tests if this spatial inertia and other are equal given the tolerance epsilon.
If the two spatial i
- get
Packs this spatial inertia matrix into the given DenseMatrix64F as follows:
/ Jx,x Jx,y Jx,z 0 -m
- getBodyFrame
Gets the reference frame that is rigidly attached to the body this matrix is
describing the spatial
- getCenterOfMassOffset
Gets the read-only reference to the center of mass offset from the origin of the
frame in which this
- getMass
Gets the total mass value.
- getMomentOfInertia
Gets the read-only reference to the moment of inertia.
- getReferenceFrame