private Axis createSDFJointAxis(OneDegreeOfFreedomJoint scsJoint) { Axis sdfJointAxis = new Axis(); Vector3d scsJointAxis = new Vector3d(); scsJoint.getJointAxis(scsJointAxis); String xyz = String.valueOf(scsJointAxis.getX()) + " " + String.valueOf(scsJointAxis.getY()) + " " + String.valueOf(scsJointAxis.getZ()); sdfJointAxis.setXyz(xyz); sdfJointAxis.setDynamics(createJointDynamics(scsJoint)); sdfJointAxis.setLimit(createJointLimit(scsJoint)); return sdfJointAxis; }
axisInModelFrame = ModelFileLoaderConversionsHelper.stringToNormalizedVector3d(sdfJoint.getAxis().getXyz()); if(sdfJoint.getAxis().getLimit() != null) double sdfUpperLimit = Double.parseDouble(sdfJoint.getAxis().getLimit().getUpper()); double sdfLowerLimit = Double.parseDouble(sdfJoint.getAxis().getLimit().getLower()); if(sdfJoint.getAxis().getLimit().getVelocity() != null) velocityLimit = Double.parseDouble(sdfJoint.getAxis().getLimit().getVelocity()); if(sdfJoint.getAxis().getLimit().getEffort() != null) effortLimit = Double.parseDouble(sdfJoint.getAxis().getLimit().getEffort()); if(sdfJoint.getAxis().getDynamics() != null) if(sdfJoint.getAxis().getDynamics().getFriction() != null) friction = Double.parseDouble(sdfJoint.getAxis().getDynamics().getFriction()); if(sdfJoint.getAxis().getDynamics().getDamping() != null) damping = Double.parseDouble(sdfJoint.getAxis().getDynamics().getDamping());
private Axis createSDFJointAxis(OneDegreeOfFreedomJoint scsJoint) { Axis sdfJointAxis = new Axis(); Vector3D scsJointAxis = new Vector3D(); scsJoint.getJointAxis(scsJointAxis); String xyz = String.valueOf(scsJointAxis.getX()) + " " + String.valueOf(scsJointAxis.getY()) + " " + String.valueOf(scsJointAxis.getZ()); sdfJointAxis.setXyz(xyz); sdfJointAxis.setDynamics(createJointDynamics(scsJoint)); sdfJointAxis.setLimit(createJointLimit(scsJoint)); return sdfJointAxis; }