44 void initParents(
void);
45 void initDofTable(
void);
50 void init(CjrlHumanoidDynamicRobot* aHDR);
57 size_t getDoF() {
return joints_.size(); }
60 CjrlHumanoidDynamicRobot* aHDR_;
61 dynamicsJRLJapan::HumanoidDynamicMultiBody* aHDMB_;
62 std::vector<CjrlJoint*> joints_;
63 std::vector<int> parentIndex_;
65 std::vector<dynamicgraph::Matrix> Ic;
66 std::vector<dynamicgraph::Vector> phi;
67 std::vector<MatrixTwist> iVpi;
68 std::vector<MatrixForce> iVpiT;
69 dynamicgraph::Matrix inertia_;