private void addForceSensorsIncludingDescendants(SDFJointHolder joint, JointNameMap jointNameMap) { addForceSensor(joint, jointNameMap); for (SDFJointHolder child : joint.getChildLinkHolder().getChildren()) { addForceSensorsIncludingDescendants(child, jointNameMap); } }
public void setupContactPointsFromRobotModel(GeneralizedSDFRobotModel sdf, boolean removeExistingContacts) { if (removeExistingContacts) clearSimulationContactPoints(); for (SDFLinkHolder link : sdf.getRootLinks()) { for (SDFJointHolder joint : link.getChildren()) { checkJointChildren(joint); } } for (RobotSide robotSide : RobotSide.values) { if (!footGroundContactPoints.get(robotSide).isEmpty()) { clearControllerFootContactPoints(); setControllerFootContactPoint(robotSide, footGroundContactPoints.get(robotSide)); } } } }
public void setupContactPointsFromRobotModel(GeneralizedSDFRobotModel sdf, boolean removeExistingContacts) { if (removeExistingContacts) clearSimulationContactPoints(); for (SDFLinkHolder link : sdf.getRootLinks()) { for (SDFJointHolder joint : link.getChildren()) { checkJointChildren(joint); } } for (RobotSide robotSide : RobotSide.values) { if (!footGroundContactPoints.get(robotSide).isEmpty()) { clearControllerFootContactPoints(); setControllerFootContactPoint(robotSide, footGroundContactPoints.get(robotSide)); } } } }
for (SDFJointHolder joint : holder.getChildren())
for (SDFJointHolder joint : holder.getChildren())
jointDescriptions.put(rootJointDescription.getName(), rootJointDescription); for (SDFJointHolder child : rootLink.getChildren()) for (SDFJointHolder child : rootLink.getChildren())
for(SDFJointHolder joint: link.getChildren())
for (SDFJointHolder child : link.getChildren())
for (SDFJointHolder child : link.getChildren())
for ( SDFLinkHolder link : links ) if(link.getChildren().size()>0)
for (SDFJointHolder child : joint.getChildLinkHolder().getChildren())