module.exports = JacobianElement;
var Vec3 = require('./Vec3');
/**
* An element containing 6 entries, 3 spatial and 3 rotational degrees of freedom.
* @class JacobianElement
* @constructor
*/
function JacobianElement(){
/**
* @property {Vec3} spatial
*/
this.spatial = new Vec3();
/**
* @property {Vec3} rotational
*/
this.rotational = new Vec3();
}
/**
* Multiply with other JacobianElement
* @method multiplyElement
* @param {JacobianElement} element
* @return {Number}
*/
JacobianElement.prototype.multiplyElement = function(element){
return element.spatial.dot(this.spatial) + element.rotational.dot(this.rotational);
};
/**
* Multiply with two vectors
* @method multiplyVectors
* @param {Vec3} spatial
* @param {Vec3} rotational
* @return {Number}
*/
JacobianElement.prototype.multiplyVectors = function(spatial,rotational){
return spatial.dot(this.spatial) + rotational.dot(this.rotational);
};