@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void floatingChainTest() throws UnreasonableAccelerationException { Random random = new Random(12651L); ArrayList<RevoluteJoint> joints = new ArrayList<>(); int numberOfJoints = 12; Vector3D[] jointAxes = new Vector3D[numberOfJoints]; for (int i = 0; i < numberOfJoints; i++) jointAxes[i] = RandomGeometry.nextVector3D(random, 1.0); RandomFloatingRevoluteJointChain idRobot = new RandomFloatingRevoluteJointChain(random, jointAxes); RigidBodyBasics elevator = idRobot.getElevator(); joints.addAll(idRobot.getRevoluteJoints()); SCSRobotFromInverseDynamicsRobotModel robot = new SCSRobotFromInverseDynamicsRobotModel("robot", idRobot.getRootJoint()); assertAAndADotV(random, joints, elevator, robot, numberOfJoints + 1); }
List<RevoluteJoint> revoluteJoints = randomFloatingChain.getRevoluteJoints();
List<RevoluteJoint> revoluteJoints = randomFloatingChain.getRevoluteJoints();
List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
RandomFloatingRevoluteJointChain floatingChain = new RandomFloatingRevoluteJointChain(random, numberOfRevoluteJoints); 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
int numberOfRevoluteJoints = 10; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, numberOfRevoluteJoints); List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
int numberOfRevoluteJoints = 10; RandomFloatingRevoluteJointChain randomFloatingChain = new RandomFloatingRevoluteJointChain(random, numberOfRevoluteJoints); List<RevoluteJoint> joints = randomFloatingChain.getRevoluteJoints(); RigidBodyBasics elevator = randomFloatingChain.getElevator(); RigidBodyBasics endEffector = joints.get(joints.size() - 1).getSuccessor();
RandomFloatingRevoluteJointChain floatingChain = new RandomFloatingRevoluteJointChain(random, numberOfRevoluteJoints); 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
List<RevoluteJoint> revoluteJoints = randomFloatingChain.getRevoluteJoints();
List<RevoluteJoint> revoluteJoints = floatingChain.getRevoluteJoints(); List<Joint> joints = floatingChain.getJoints();
double dt = 1e-8; MultiBodySystemStateIntegrator integrator = new MultiBodySystemStateIntegrator(dt); integrator.integrateFromVelocity(randomFloatingChain.getRevoluteJoints()); randomFloatingChain.getElevator().updateFramesRecursively(); point2.changeFrame(base.getBodyFixedFrame());
List<RevoluteJoint> revoluteJoints = randomFloatingChain.getRevoluteJoints();