/** * Creates a new {@link JointMatrixIndexProvider} indexing all the given joints. * * @param jointsToIndex the array of joints to be indexed. Not modified. * @return the index provider for the given joints. */ public static JointMatrixIndexProvider toIndexProvider(JointReadOnly[] jointsToIndex) { return toIndexProvider(Arrays.asList(jointsToIndex)); }
/** * Gets the {@code JointMatrixIndexProvider} to use with this input. * * @return the matrix index provider for the considered joints. */ default JointMatrixIndexProvider getJointMatrixIndexProvider() { return JointMatrixIndexProvider.toIndexProvider(getJointsToConsider()); }
JointMatrixIndexProvider jointMatrixIndexProvider = JointMatrixIndexProvider.toIndexProvider(jointsToConsider);
JointMatrixIndexProvider jointMatrixIndexProvider = JointMatrixIndexProvider.toIndexProvider(jointsToConsider);
List<? extends JointBasics> jointsToIgnore = SubtreeStreams.fromChildren(rootBody).filter(joint -> !jointsToConsider.contains(joint)) .collect(Collectors.toList()); JointMatrixIndexProvider jointMatrixIndexProvider = JointMatrixIndexProvider.toIndexProvider(jointsToConsider);
List<? extends JointReadOnly> jointsToIgnore = SubtreeStreams.fromChildren(rootBody).filter(joint -> !jointsToConsider.contains(joint)) .collect(Collectors.toList()); JointMatrixIndexProvider jointMatrixIndexProvider = JointMatrixIndexProvider.toIndexProvider(jointsToConsider);