code: public TrajectoryEnvelope[] getTrajectoryEnvelopes(int robotID) {
  		ArrayList<TrajectoryEnvelope> ret = new ArrayList<TrajectoryEnvelope>();
  		for (Variable v : this.getVariables()) {
  			TrajectoryEnvelope te = (TrajectoryEnvelope)v;
  			if (te.getRobotID() == robotID) ret.add(te);
  		}
  		return ret.toArray(new TrajectoryEnvelope[ret.size()]);
  	}
docs: Get all the {@link TrajectoryEnvelope}s in this solver's {@link ConstraintNetwork} pertaining to a particular robot.
  @param robotID The ID of the robot for which the {@link TrajectoryEnvelope}s are desired.
  @return All the {@link TrajectoryEnvelope}s in this solver's {@link ConstraintNetwork} pertaining to a particular robot.