/** {@inheritDoc} */ @Override default int getJointConfiguration(int rowStart, DenseMatrix64F matrixToPack) { int index = rowStart; matrixToPack.set(index++, 0, getJointPose().getPitch()); matrixToPack.set(index++, 0, getJointPose().getX()); matrixToPack.set(index++, 0, getJointPose().getZ()); return rowStart + getDegreesOfFreedom(); }