Function Karana::Dynamics::Algorithms::evalSpatialMomentum

• Defined in File Algorithms.h

Function Documentation

km::SpatialVector Karana::Dynamics::Algorithms::evalSpatialMomentum(const SubTree &st)

Calculate the overall spatial momentum for the SubTree.

The returned value is by default is referenced about, and represented in the virtual root frame. Note that this quantity is conserved in the absence of external forces on the system.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

Spatial momentum.