}; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, jointAxes); GeometricJacobian jacobian = new GeometricJacobian(randomFloatingChain.getRootJoint().getSuccessor(), randomFloatingChain.getLeafBody(), randomFloatingChain.getLeafBody().getBodyFixedFrame());
}; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, jointAxes); GeometricJacobian jacobian = new GeometricJacobian(randomFloatingChain.getRootJoint().getSuccessor(), randomFloatingChain.getLeafBody(), randomFloatingChain.getLeafBody().getBodyFixedFrame());
}; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, jointAxes); GeometricJacobian jacobian = new GeometricJacobian(randomFloatingChain.getRootJoint().getSuccessor(), randomFloatingChain.getLeafBody(), randomFloatingChain.getLeafBody().getBodyFixedFrame());
RigidBodyBasics endEffector = randomFloatingChain.getLeafBody(); GeometricJacobian geometricJacobian = new GeometricJacobian(base, endEffector, base.getBodyFixedFrame()); geometricJacobian.compute();
RigidBodyBasics endEffector = randomFloatingChain.getLeafBody(); GeometricJacobian geometricJacobian = new GeometricJacobian(base, endEffector, base.getBodyFixedFrame()); geometricJacobian.compute();
}; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, jointAxes); GeometricJacobian jacobian = new GeometricJacobian(randomFloatingChain.getRootJoint().getSuccessor(), randomFloatingChain.getLeafBody(), randomFloatingChain.getLeafBody().getBodyFixedFrame());