public void update(long timestamp, long uid) { super.update(timestamp); this.uid = uid; int offset = 0; for (int i = 0; i < jointHolders.size(); i++) { JointHolder jointHolder = jointHolders.get(i); jointHolder.get(jointStates, offset); offset += jointHolder.getNumberOfStateVariables(); } }
private void addJointHolders(List<JointHolder> jointHolders) { for (JointHolder jointHolder : jointHolders) { JointDefinition jointDefinition = handshake.getJoints().add(); jointDefinition.setName(jointHolder.getName()); jointDefinition.setType(jointHolder.getJointType()); this.jointHolders.add(jointHolder); } }
public static int getNumberOfJointStates(List<JointHolder> jointHolders) { int numberOfJointStates = 0; for (int i = 0; i < jointHolders.size(); i++) { numberOfJointStates += jointHolders.get(i).getNumberOfStateVariables(); } return numberOfJointStates; }
private void addJointHolders(List<RigidBody> rootBodies) { InverseDynamicsJoint[] joints = ScrewTools.computeSubtreeJoints(rootBodies); for (InverseDynamicsJoint joint : joints) { JointHolder jointHolder = JointHolderFactory.getJointHolder(joint); YoProtoHandshake.JointDefinition.Builder jointDefinition = YoProtoHandshake.JointDefinition.newBuilder(); jointDefinition.setName(joint.getName()); jointDefinition.setType(jointHolder.getJointType()); yoProtoHandshakeBuilder.addJoint(jointDefinition); jointHolders.add(jointHolder); } }
public static int getNumberOfJointStates(List<JointHolder> jointHolders) { int numberOfJointStates = 0; for (int i = 0; i < jointHolders.size(); i++) { numberOfJointStates += jointHolders.get(i).getNumberOfStateVariables(); } return numberOfJointStates; }
for (JointHolder jointHolder : jointHolders) jointHolder.get(allocatedJointStates, jointOffset); jointOffset += jointHolder.getNumberOfStateVariables();