C# (CSharp) UnsafeNativeMethodsInverseDynamics.MultiBodyTree_calculateMassMatrix2 Examples

Example #1

        public int CalculateMassMatrix(bool fixedBase, float[] q, float[] mass_matrix)
        {
            int baseDofs;

            if (fixedBase)
            {
                baseDofs = 0;
            }
            else
            {
                baseDofs = 6;
            }

            int numDof = q.Length - baseDofs;

            //if (mass_matrix.Length != q.Length * q.Length) return -1;
            return(UnsafeNativeMethodsInverseDynamics.MultiBodyTree_calculateMassMatrix2(Native, numDof, baseDofs, q, mass_matrix));
        }