public static List<PrismaticJoint> createRandomChainRobotWithPrismaticJoints(int numberOfJoints, Random random) { return createRandomChainRobotWithPrismaticJoints("", numberOfJoints, random); }
public static List<PrismaticJoint> createRandomChainRobotWithPrismaticJoints(String prefix, RigidBody rootBody, Vector3d[] jointAxes, Random random) { List<PrismaticJoint> prismaticJoints = new ArrayList<>(); createRandomChainRobotWithPrismaticJoints(prefix, prismaticJoints, rootBody, jointAxes, random); return prismaticJoints; }
public static List<PrismaticJoint> createRandomChainRobotWithPrismaticJoints(String prefix, int numberOfJoints, Random random) { return createRandomChainRobotWithPrismaticJoints(prefix, RandomTools.generateRandomVectorArray(random, numberOfJoints, 1.0), random); }
public static List<PrismaticJoint> createRandomChainRobotWithPrismaticJoints(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 createRandomChainRobotWithPrismaticJoints(prefix, rootBody, jointAxes, random); }