private static int insertJointsConfiguration(JointBasics[] joints, int startIndex, DenseMatrix64F matrix) { for (int jointIndex = 0; jointIndex < joints.length; jointIndex++) { JointBasics joint = joints[jointIndex]; startIndex = joint.setJointConfiguration(startIndex, matrix); } return startIndex; }
private static int insertJointsConfiguration(List<? extends JointBasics> joints, int startIndex, DenseMatrix64F matrix) { for (int jointIndex = 0; jointIndex < joints.size(); jointIndex++) { JointBasics joint = joints.get(jointIndex); startIndex = joint.setJointConfiguration(startIndex, matrix); } return startIndex; }
private static void copyJointsConfiguration(List<? extends JointReadOnly> source, List<? extends JointBasics> destination) { for (int jointIndex = 0; jointIndex < source.size(); jointIndex++) { JointReadOnly sourceJoint = source.get(jointIndex); JointBasics destinationJoint = destination.get(jointIndex); destinationJoint.setJointConfiguration(sourceJoint); } }
@Override protected void copyJoint(JointBasics originalJoint, JointBasics targetJoint) { targetJoint.setJointConfiguration(originalJoint); targetJoint.setJointTwist(originalJoint); targetJoint.setJointAcceleration(originalJoint); }