- filterJoints
Collects and returns only the joints from source that are instances of the given
clazz. This method
- collectSubtreeJoints
Collects all the joints that are part of any of the subtrees originating from
the given rootBodies,
- computeDegreesOfFreedom
Iterates through the given joints and sums their number degrees of freedom.
- createJointPath
Travels the multi-body system from start to end and stores in order the joints
that are in between a
- getRootBody
Retrieves and gets the root body of the multi-body system the given body belongs
to.
- createOneDoFJointPath
Travels the multi-body system from start to end and stores in order the joints
that implement OneDoF
- extractJointsState
Iterates through the given joints, extract the requested state stateSelection
for each joint, and fi
- insertJointsState
Iterates through the given joints, and update their requested state
stateSelection using the given m
- computeDistanceToAncestor
Computes the number of joints that separates the descendant from its ancestor.
The ancestor is expe
- isAncestor
Traverses up the kinematic chain from the candidate descendant towards the root
body, checking to se
- collectSubtreeSuccessors
Collects any rigid-body that composes any of the subtrees originating at the
given joints. WARNING:
- collectSuccessors
Collects in order the successor of each joint, i.e.
JointReadOnly#getSuccessor(). WARNING: This meth