- <init>
Creates a new TwistCalculator that will compute all the twists of all the
rigid-bodies of the system
- compute
Notifies the system has changed state (configuration and velocity). This method
has to be called onc
- getTwistOfBody
Updates if necessary and packs the twist of the given rigidBody. The resulting
twist is the twist of
- getRelativeTwist
Computes and packs the twist of the given body relative to the given base. The
resulting twist is th
- getRootBody
Returns the reference to the root body of the system for which this twist
calculator is available.
- assignAndGetEmptyTwist
Assigned an empty twist to the given rigidBodyand returns it.
- computeOrGetTwistOfBody
Retrieves or computes the twist with respect to the inertial frame of the given
rigidBody. WARNING:
- retrieveAssignedTwist
Retrieves in the internal memory, the up-to-date twist associated with the given
rigidBody.
- getLinearVelocityOfBodyFixedPoint
Computes and packs the linear velocity of a point defined by bodyFixedPoint that
is fixed to the giv
- getRelativeAngularVelocity
Computes and packs the angular velocity of the given body with respect to the
given base. The result