How to use

addIfNotNull

method

in

us.ihmc.wholeBodyController.diagnostics.HumanoidJointPoseList

public SideDependentList<ArrayList<OneDoFJoint>> getArmJoints(FullHumanoidRobotModel fullRobotModel)
{
 SideDependentList<ArrayList<OneDoFJoint>> ret = new SideDependentList<ArrayList<OneDoFJoint>>();
 for (RobotSide robotSide : RobotSide.values)
 {
   ArrayList<OneDoFJoint> armJoints = new ArrayList<OneDoFJoint>();
      addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH));
       
   ret.set(robotSide, armJoints);
 }
 return ret;
}

public SideDependentList<ArrayList<OneDoFJointBasics>> getArmJoints(FullHumanoidRobotModel fullRobotModel)
{
 SideDependentList<ArrayList<OneDoFJointBasics>> ret = new SideDependentList<ArrayList<OneDoFJointBasics>>();
 for (RobotSide robotSide : RobotSide.values)
 {
   ArrayList<OneDoFJointBasics> armJoints = new ArrayList<OneDoFJointBasics>();
      addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH));
       
   ret.set(robotSide, armJoints);
 }
 return ret;
}