/** * Gets all the joints to be considered in the algorithm. * <p> * The ordering of returned list should be consistent with * {@link JointMatrixIndexProvider#getIndexedJointsInOrder()}. * </p> * * @return the list of all the joints to be considered. */ default List<? extends JointReadOnly> getJointsToConsider() { return getAllJoints(); }
/** * Gets all the joints to be ignored in the algorithm. * * @return the list of all the joints to be ignored. */ default List<? extends JointReadOnly> getJointsToIgnore() { return getAllJoints().stream().filter(joint -> !getJointsToConsider().contains(joint)).collect(Collectors.toList()); }