How to use

getJoint

method

in

us.ihmc.simulationconstructionset.simulatedSensors.WrenchCalculatorInterface

public void packFootForceSensors(SideDependentList<ArrayList<WrenchCalculatorInterface>> footForceSensors)
{
 ArrayList<WrenchCalculatorInterface> forceSensors = new ArrayList<WrenchCalculatorInterface>();
 sdfRobot.getForceSensors(forceSensors);
 SideDependentList<String> jointNamesBeforeFeet = sdfRobot.getJointNamesBeforeFeet();
 for (RobotSide robotSide : RobotSide.values)
 {
   footForceSensors.put(robotSide, new ArrayList<WrenchCalculatorInterface>());
   for (int i = 0; i < forceSensors.size(); i++)
   {
    if (forceSensors.get(i).getJoint().getName().equals(jointNamesBeforeFeet.get(robotSide)))
    {
      footForceSensors.get(robotSide).add(forceSensors.get(i));
    }
   }
 }
}

private LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> generateForceSensorDefinitions(
   ArrayList<WrenchCalculatorInterface> groundContactPointBasedWrenchCalculators)
{
 LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> forceSensorDefinitions = new LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition>();
 for (WrenchCalculatorInterface groundContactPointBasedWrenchCalculator : groundContactPointBasedWrenchCalculators)
 {
   Joint forceTorqueSensorJoint = groundContactPointBasedWrenchCalculator.getJoint();
   OneDoFJointBasics sensorParentJoint;
   if (forceTorqueSensorJoint instanceof OneDegreeOfFreedomJoint)
    sensorParentJoint = scsToInverseDynamicsJointMap.getInverseDynamicsOneDoFJoint((OneDegreeOfFreedomJoint) forceTorqueSensorJoint);
   else
    throw new RuntimeException("Force sensor is only supported for OneDegreeOfFreedomJoint.");
   RigidBodyTransform transformFromSensorToParentJoint = new RigidBodyTransform();
   groundContactPointBasedWrenchCalculator.getTransformToParentJoint(transformFromSensorToParentJoint);
   ForceSensorDefinition sensorDefinition = new ForceSensorDefinition(groundContactPointBasedWrenchCalculator.getName(), sensorParentJoint.getSuccessor(), transformFromSensorToParentJoint);
   forceSensorDefinitions.put(groundContactPointBasedWrenchCalculator, sensorDefinition);
 }
 return forceSensorDefinitions;
}

private LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> generateForceSensorDefinitions(
   ArrayList<WrenchCalculatorInterface> groundContactPointBasedWrenchCalculators)
{
 LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> forceSensorDefinitions = new LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition>();
 for (WrenchCalculatorInterface groundContactPointBasedWrenchCalculator : groundContactPointBasedWrenchCalculators)
 {
   OneDegreeOfFreedomJoint forceTorqueSensorJoint = groundContactPointBasedWrenchCalculator.getJoint();
   OneDoFJoint sensorParentJoint = scsToInverseDynamicsJointMap.getInverseDynamicsOneDoFJoint(forceTorqueSensorJoint);
   RigidBodyTransform transformFromSensorToParentJoint = new RigidBodyTransform();
   groundContactPointBasedWrenchCalculator.getTransformToParentJoint(transformFromSensorToParentJoint);
   ForceSensorDefinition sensorDefinition = new ForceSensorDefinition(groundContactPointBasedWrenchCalculator.getName(), sensorParentJoint.getSuccessor(), transformFromSensorToParentJoint);
   forceSensorDefinitions.put(groundContactPointBasedWrenchCalculator, sensorDefinition);
 }
 return forceSensorDefinitions;
}

Joint joint = groundContactPointBasedWrenchCalculator.getJoint();
OneDoFJointBasics oneDoFJoint;
if (joint instanceof OneDegreeOfFreedomJoint)