- getJointsToConsider
Gets all the joints to be considered in the algorithm. The ordering of returned
list should be consi
- getJointMatrixIndexProvider
Gets the JointMatrixIndexProvider to use with this input.
- extractJointsToConsider
Navigates through the subtree starting off of rootBody and collects all the
joints that are to be co
- getAllJoints
Gets all the joints composing the subtree starting at #getRootBody() including
both the joints to co
- getClosestJointToRoot
Finds amongst the given joints which is the closest to the root body.
- getInertialFrame
Gets the inertial frame to use with this multi-body system. The inertial frame
is used as the princi
- getJointsToIgnore
Gets all the joints to be ignored in the algorithm.
- getRootBody
Gets the root body of a multi-body system or the start body of a subtree that
the algorithms conside
- toMultiBodySystemInput
Creates a new input from the given joints to consider. The resulting root body
and joints to ignore