SixDoFJoint floatingJoint = floatingChain.getRootJoint(); List<RevoluteJoint> revoluteJoints = floatingChain.getRevoluteJoints(); List<Joint> joints = floatingChain.getJoints();
SixDoFJoint floatingJoint = floatingChain.getRootJoint(); List<RevoluteJoint> revoluteJoints = floatingChain.getRevoluteJoints(); List<Joint> joints = floatingChain.getJoints(); List<JointBasics> jointsInFuture = Arrays.asList(MultiBodySystemFactories.cloneKinematicChain(joints.toArray(new JointBasics[numberOfRevoluteJoints + 1])));
SixDoFJoint floatingJoint = floatingChain.getRootJoint(); List<RevoluteJoint> revoluteJoints = floatingChain.getRevoluteJoints(); List<Joint> joints = floatingChain.getJoints(); List<JointBasics> jointsInFuture = Arrays.asList(MultiBodySystemFactories.cloneKinematicChain(joints.toArray(new JointBasics[numberOfRevoluteJoints + 1])));
/** * Randomizes the state of this multi-body system and updates its reference frames. * * @param random the random generator to use. * @param stateSelections the states to randomize. */ public void nextState(Random random, JointStateType... stateSelections) { for (JointStateType selection : stateSelections) MultiBodySystemRandomTools.nextState(random, selection, getJoints()); getElevator().updateFramesRecursively(); }