Merge branch 'release/0.0.10'

ihmcrobotics · Nov 9, 2018 · 0b93a22 · 0b93a22
2 parents 62e63e0 + 3fa7ffa
commit 0b93a22
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Showing 5 changed files with 64 additions and 8 deletions.
diff --git a/build.gradle b/build.gradle
@@ -11,7 +11,7 @@ apply plugin: "us.ihmc.ihmc-build"
 
 ihmc {
    group = "us.ihmc"
-   version = "0.0.9"
+   version = "0.0.10"
    vcsUrl = "https://github.com/ihmcrobotics/mecano"
    openSource = true
 

diff --git a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java
@@ -720,6 +720,12 @@ default List<? extends JointBasics> subtreeList()
       return subtreeStream().collect(Collectors.toList());
    }
 
+   @Override
+   default JointBasics[] subtreeArray()
+   {
+      return subtreeStream().toArray(JointBasics[]::new);
+   }
+
    /**
     * Updates {@code afterJointFrame} of this joint to take into consideration the new joint
     * configuration. Then calls {@link RigidBody#updateFramesRecursively()} which in its turn updates

diff --git a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointReadOnly.java b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointReadOnly.java
@@ -379,10 +379,6 @@ default void getJointOffset(RigidBodyTransform jointOffsetTransformToPack)
     * <p>
     * This method generates garbage.
     * </p>
-    * <p>
-    * A subtree is defined by a start joint and is the set of all the joint for which the start
-    * joint is an ancestor.
-    * </p>
     * 
     * @return the new subtree iterable.
     * @see JointIterable
@@ -399,6 +395,9 @@ default Iterable<? extends JointReadOnly> subtreeIterable()
     * A subtree is defined by a start joint and is the set of all the joint for which the start
     * joint is an ancestor.
     * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
     * 
     * @return the new subtree stream.
     * @see SubtreeStreams
@@ -415,6 +414,9 @@ default Stream<? extends JointReadOnly> subtreeStream()
     * A subtree is defined by a start joint and is the set of all the joint for which the start
     * joint is an ancestor.
     * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
     * 
     * @return the new subtree list.
     */
@@ -423,6 +425,24 @@ default List<? extends JointReadOnly> subtreeList()
       return subtreeStream().collect(Collectors.toList());
    }
 
+   /**
+    * Gets an array that contains all the joints, including {@code this}, of the subtree that starts at
+    * this joint.
+    * <p>
+    * A subtree is defined by a start joint and is the set of all the joint for which the start joint
+    * is an ancestor.
+    * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
+    * 
+    * @return the new subtree array.
+    */
+   default JointReadOnly[] subtreeArray()
+   {
+      return subtreeStream().toArray(JointReadOnly[]::new);
+   }
+
    /**
     * Returns the reference to the name of this joint.
     * 

diff --git a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/RigidBodyBasics.java b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/RigidBodyBasics.java
@@ -119,4 +119,10 @@ default List<? extends RigidBodyBasics> subtreeList()
    {
       return subtreeStream().collect(Collectors.toList());
    }
+
+   @Override
+   default RigidBodyBasics[] subtreeArray()
+   {
+      return subtreeStream().toArray(RigidBodyBasics[]::new);
+   }
 }
diff --git a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/RigidBodyReadOnly.java b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/RigidBodyReadOnly.java
@@ -126,12 +126,12 @@ default void getCenterOfMass(FramePoint3DBasics centerOfMassToPack)
     * Gets a new iterable to iterate through all the rigid-bodies, including {@code this}, of the
     * subtree that starts at this rigid-body.
     * <p>
-    * This method generates garbage.
-    * </p>
-    * <p>
     * A subtree is defined by a start rigid-body and is the set of all the rigid-body for which the
     * start rigid-body is an ancestor.
     * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
     * 
     * @return the new subtree iterable.
     * @see RigidBodyIterable
@@ -163,6 +163,9 @@ default Iterable<? extends JointReadOnly> childrenSubtreeIterable()
     * A subtree is defined by a start rigid-body and is the set of all the rigid-body for which the
     * start rigid-body is an ancestor.
     * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
     * 
     * @return the new subtree stream.
     * @see SubtreeStreams
@@ -179,6 +182,9 @@ default Stream<? extends RigidBodyReadOnly> subtreeStream()
     * A subtree is defined by a start rigid-body and is the set of all the rigid-body for which the
     * start rigid-body is an ancestor.
     * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
     * 
     * @return the new subtree list.
     */
@@ -187,6 +193,24 @@ default List<? extends RigidBodyReadOnly> subtreeList()
       return subtreeStream().collect(Collectors.toList());
    }
 
+   /**
+    * Gets an array that contains all the rigid-bodies, including {@code this}, of the subtree that
+    * starts at this rigid-body.
+    * <p>
+    * A subtree is defined by a start rigid-body and is the set of all the rigid-body for which the
+    * start rigid-body is an ancestor.
+    * </p>
+    * <p>
+    * This method generates garbage.
+    * </p>
+    * 
+    * @return the new subtree array.
+    */
+   default RigidBodyReadOnly[] subtreeArray()
+   {
+      return subtreeStream().toArray(RigidBodyReadOnly[]::new);
+   }
+
    /**
     * Gets the string that is used to identify this rigid-body.
     * <p>