private SDFJoint createSDFJoint(OneDegreeOfFreedomJoint scsJoint) { SDFJoint sdfJoint = new SDFJoint(); sdfJoint.setAxis(createSDFJointAxis(scsJoint)); sdfJoint.setChild(scsJoint.getLink().getName()); sdfJoint.setName(scsJoint.getName()); sdfJoint.setParent(scsJoint.getParentJoint().getLink().getName()); RigidBodyTransform scsJointOffset = new RigidBodyTransform(); scsJoint.getTransformToWorld(scsJointOffset); sdfJoint.setPose(getPoseFromTransform3D(scsJointOffset)); String type; if (scsJoint instanceof PinJoint) { type = "revolute"; } else { throw new RuntimeException("Implement me!"); } sdfJoint.setType(type); return sdfJoint; }
private SDFJoint createSDFJoint(OneDegreeOfFreedomJoint scsJoint) { SDFJoint sdfJoint = new SDFJoint(); sdfJoint.setAxis(createSDFJointAxis(scsJoint)); sdfJoint.setChild(scsJoint.getLink().getName()); sdfJoint.setName(scsJoint.getName()); sdfJoint.setParent(scsJoint.getParentJoint().getLink().getName()); RigidBodyTransform scsJointOffset = new RigidBodyTransform(); scsJoint.getTransformToWorld(scsJointOffset); sdfJoint.setPose(getPoseFromTransform3D(scsJointOffset)); String type; if (scsJoint instanceof PinJoint) { type = "revolute"; } else { throw new RuntimeException("Implement me!"); } sdfJoint.setType(type); return sdfJoint; }
for (OneDegreeOfFreedomJoint pinJoint : pinJoints) if (updateRootJoints || (pinJoint.getParentJoint() != null))
for (OneDegreeOfFreedomJoint pinJoint : pinJoints) if (updateRootJoints || (pinJoint.getParentJoint() != null))
if (updateRootJoints || (pinJoint.getParentJoint() != null))