private void addForceSensorsIncludingDescendants(SDFJointHolder joint, JointNameMap jointNameMap) { addForceSensor(joint, jointNameMap); for (SDFJointHolder child : joint.getChildLinkHolder().getChildren()) { addForceSensorsIncludingDescendants(child, jointNameMap); } }
@Override public ArrayList<CollisionMeshDescription> getCollisionObjects(String name) { // TODO: SDF collision stuff to RobotDescription collision stuff. for(SDFLinkHolder linkHolder : rootLinks) { if(linkHolder.getName().equals(name)) { SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(linkHolder.getCollisions(), resourceDirectories); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; } } SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(joints.get(name).getChildLinkHolder().getCollisions(), resourceDirectories); CollisionMeshDescription collisionMeshDescription = new CollisionMeshDescription(); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; }
@Override public Graphics3DObject getGraphicsObject(String name) { for(SDFLinkHolder linkHolder : rootLinks) { if(linkHolder.getName().equals(name)) { return new SDFGraphics3DObject(linkHolder.getVisuals(), resourceDirectories); } } SDFJointHolder joint = joints.get(name); RigidBodyTransform visualTransform = new RigidBodyTransform(); visualTransform.setRotation(joint.getLinkRotation()); return new SDFGraphics3DObject(joint.getChildLinkHolder().getVisuals(), resourceDirectories, visualTransform); }
recursivelyAddLinks(joint.getName(), joint.getChildLinkHolder());
recursivelyAddLinks(joint.getChildLinkHolder(), modelTransform, useCollisionMeshes);
recursivelyAddLinks(joint.getName(), joint.getChildLinkHolder());
private void checkJointChildren(SDFJointHolder joint) SDFLinkHolder link = joint.getChildLinkHolder(); for (Collision collision : link.getCollisions())
private void checkJointChildren(SDFJointHolder joint) SDFLinkHolder link = joint.getChildLinkHolder(); for (Collision collision : link.getCollisions())
scsJoint.setIsDynamic(false); scsJoint.setLink(createLinkDescription(joint.getChildLinkHolder(), visualTransform, useCollisionMeshes)); scsParentJoint.addJoint(scsJoint); addSensors(scsJoint, joint.getChildLinkHolder()); for (SDFJointHolder child : joint.getChildLinkHolder().getChildren())
RigidBodyTransform modelToChildLink = getChildLinkHolder().getTransformFromModelReferenceFrame();