public static List<RevoluteJoint> createRandomChainRobot(int numberOfJoints, Random random) { return createRandomChainRobot("", numberOfJoints, random); }
public static List<RevoluteJoint> createRandomChainRobot(String prefix, RigidBody rootBody, Vector3d[] jointAxes, Random random) { List<RevoluteJoint> revoluteJoints = new ArrayList<>(); createRandomChainRobot(prefix, revoluteJoints, rootBody, jointAxes, random); return revoluteJoints; }
public static List<RevoluteJoint> createRandomChainRobot(String prefix, int numberOfJoints, Random random) { return createRandomChainRobot(prefix, RandomTools.generateRandomVectorArray(random, numberOfJoints, 1.0), random); }
public MassMatrixCalculatorComparer() { joints = new ArrayList<RevoluteJoint>(); elevator = new RigidBody("elevator", worldFrame); Vector3d[] jointAxes = {X, Y, Z, Z, X, Z, Z, X, Y, Y}; ScrewTestTools.createRandomChainRobot("", joints, elevator, jointAxes, random); massMatrixCalculators.add(new DifferentialIDMassMatrixCalculator(worldFrame, elevator)); massMatrixCalculators.add(new CompositeRigidBodyMassMatrixCalculator(elevator)); }
public RandomFloatingChain(Random random, Vector3d[] jointAxes) { ReferenceFrame elevatorFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("elevator", ReferenceFrame.getWorldFrame(), new RigidBodyTransform()); elevator = new RigidBody("elevator", elevatorFrame); rootJoint = new SixDoFJoint("rootJoint", elevator, elevatorFrame); RigidBody rootBody = ScrewTestTools.addRandomRigidBody("rootBody", random, rootJoint); revoluteJoints = new ArrayList<RevoluteJoint>(); ScrewTestTools.createRandomChainRobot("test", revoluteJoints, rootBody, jointAxes, random); inverseDynamicsJoints.add(rootJoint); inverseDynamicsJoints.addAll(revoluteJoints); }
public static List<RevoluteJoint> createRandomChainRobot(String prefix, Vector3d[] jointAxes, Random random) { ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame(); ReferenceFrame rootBodyFrame = ReferenceFrame.constructBodyFrameWithUnchangingTransformToParent("rootBodyFrame", worldFrame, new RigidBodyTransform()); RigidBody rootBody = new RigidBody(prefix + "RootBody", rootBodyFrame); return createRandomChainRobot(prefix, rootBody, jointAxes, random); }