public void compute() { dynamicallyConsistentNullspaceCalculator.compute(); centroidalMomentumMatrix.compute(); DenseMatrix64F centroidalMomentumMatrix = this.centroidalMomentumMatrix.getMatrix(); DenseMatrix64F sNsBar = dynamicallyConsistentNullspaceCalculator.getSNsBar(); temp.reshape(centroidalMomentumMatrix.getNumRows(), sNsBar.getNumCols()); CommonOps.mult(centroidalMomentumMatrix, sNsBar, temp); constrainedCentroidalMomentumMatrix.reshape(selectionMatrix.getNumRows(), temp.getNumCols()); CommonOps.mult(selectionMatrix, temp, constrainedCentroidalMomentumMatrix); }