- addCrossToVector
Performs in-place the following operation:
vectorToModify += crossTerm1 × crossTerm2
- addEquals
Adds the given matrixToAdd to matrixToModify.
- capitalize
Change the first character of the given string to be upper-case only if needed.
- checkIfMatrix3DIsSymmetric
Asserts that the given matrix is symmetric.
- checkTypeAndCast
Attempts to cast the given joint to the type T.
- computeDynamicForce
Using Newton's second law of motion with a rigid-body to compute the net force
from its acceleration
- computeDynamicForceFast
Using Newton's second law of motion with a rigid-body to compute the net force
from its acceleration
- computeDynamicMoment
Using Newton's second law of motion with a rigid-body to compute the net moment
from its acceleratio
- computeKineticCoEnergy
Calculates the kinetic co-energy as introduced in the Ph.D. thesis of Vincent
Duindam entitled"Port-
- computePlanarJointMotionSubspace
Creates the list of unit-twists for a planar joint. For each degree of freedom
of the joint there is
- computeSixDoFJointMotionSubspace
Creates the list of unit-twists for a 6-DoF joint. For each degree of freedom of
the joint there is
- computeSphericalJointMotionSubspace
Creates the list of unit-twists for a spherical joint. For each degree of
freedom of the joint there