From 44d576e2b96f7436966b257e50602debb96ea3ca Mon Sep 17 00:00:00 2001
From: nadiaocu <nadiaocu@NADIA-OCU>
Date: Wed, 17 Mar 2021 09:45:29 -0500
Subject: [PATCH 1/2] Added option to update a single joint frame.

---
 .../interfaces/JointBasics.java               | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java
index 1c7395f..a790204 100644
--- a/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java
+++ b/src/main/java/us/ihmc/mecano/multiBodySystem/interfaces/JointBasics.java
@@ -144,8 +144,8 @@ public interface JointBasics extends JointReadOnly
    void setJointWrench(JointReadOnly other);
 
    /**
-    * Sets the joint current configuration from the given column vector {@code DMatrix}. Here
-    * are a few examples:
+    * Sets the joint current configuration from the given column vector {@code DMatrix}. Here are a few
+    * examples:
     * <ul>
     * <li>For a {@code RevoluteJoint}, the {@code rowStart}<sup>th</sup> row of the given column vector
     * is used to set the current joint angle {@code q}.
@@ -742,6 +742,20 @@ default JointBasics[] subtreeArray()
       return subtreeStream().toArray(JointBasics[]::new);
    }
 
+   /**
+    * Updates {@code afterJointFrame} of this joint to take into consideration the new joint
+    * configuration and velocity.
+    * <p>
+    * This method only updates the frame for this joint, use {@link #updateFramesRecursively()} to
+    * update all reference frames in the subtree starting at this joint.
+    * </p>
+    */
+   default void updateFrame()
+   {
+      getFrameBeforeJoint().update();
+      getFrameAfterJoint().update();
+   }
+
    /**
     * Updates {@code afterJointFrame} of this joint to take into consideration the new joint
     * configuration. Then calls {@link RigidBody#updateFramesRecursively()} which in its turn updates
@@ -758,8 +772,7 @@ default JointBasics[] subtreeArray()
     */
    default void updateFramesRecursively()
    {
-      getFrameBeforeJoint().update();
-      getFrameAfterJoint().update();
+      updateFrame();
 
       if (getSuccessor() != null)
       {

From c2263ecf7e6b2fab9c09bbeb8aa6a6a662d4d71b Mon Sep 17 00:00:00 2001
From: Sylvain Bertrand <sbertrand@ihmc.us>
Date: Wed, 17 Mar 2021 10:51:02 -0500
Subject: [PATCH 2/2] :bookmark: 0.8.2

---
 build.gradle.kts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build.gradle.kts b/build.gradle.kts
index f9b22ea..bd81450 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -6,7 +6,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "0.8.1"
+   version = "0.8.2"
    vcsUrl = "https://github.com/ihmcrobotics/mecano"
    openSource = true