private static Packet customConvertToIHMCMessage(FootstepDataListRosMessage message) throws Exception { FootstepDataListMessage footsteps = new FootstepDataListMessage(); footsteps.defaultSwingTime = message.getDefaultSwingTime(); footsteps.defaultTransferTime = message.getDefaultTransferTime(); footsteps.setUniqueId(message.getUniqueId()); footsteps.executionMode = ExecutionMode.values[message.getExecutionMode()]; footsteps.finalTransferTime = message.getFinalTransferTime(); ArrayList<FootstepDataMessage> stepData = new ArrayList<>(); for (FootstepDataRosMessage footstepDataRosMessage : message.getFootstepDataList()) { stepData.add((FootstepDataMessage) convertToIHMCMessage(footstepDataRosMessage)); } footsteps.footstepDataList = stepData; return footsteps; }
@Override public void onNewMessage(FootstepDataListRosMessage message) { ArrayList<us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage> footStepDataArrayList = new ArrayList<us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage>(); List<FootstepDataRosMessage> footStepDataList = message.getFootstepDataList(); FootStepDataMessageConverter.convertFootStepDataList(footStepDataList, footStepDataArrayList); ExecutionMode executionMode = ExecutionMode.values[(int) message.getExecutionMode()]; controllerCommunicator.send(new us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage(footStepDataArrayList,message.getSwingTime(),message.getTransferTime(),executionMode)); } }
@Override public void onNewMessage(FootstepDataListRosMessage message) { ArrayList<us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage> footStepDataArrayList = new ArrayList<us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage>(); List<FootstepDataRosMessage> footStepDataList = message.getFootstepDataList(); FootStepDataMessageConverter.convertFootStepDataList(footStepDataList, footStepDataArrayList); ExecutionMode executionMode = ExecutionMode.values[(int) message.getExecutionMode()]; controllerCommunicator.send(new us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage(footStepDataArrayList,message.getDefaultSwingTime(),message.getDefaultTransferTime(),executionMode)); } }
footsteps.setDefaultSwingDuration(message.getDefaultSwingDuration()); footsteps.setDefaultTransferDuration(message.getDefaultTransferDuration()); footsteps.setUniqueId(message.getUniqueId()); try footsteps.getQueueingProperties().set((QueueableMessage) convertToIHMCMessage(message.getQueueingProperties())); footsteps.setFinalTransferDuration(message.getFinalTransferDuration()); footsteps.setExecutionTiming(message.getExecutionTiming()); footsteps.setOffsetFootstepsWithExecutionError(message.getOffsetFootstepsWithExecutionError()); for (FootstepDataRosMessage footstepDataRosMessage : message.getFootstepDataList())
message.setDefaultSwingDuration(footstepList.getDefaultSwingDuration()); message.setDefaultTransferDuration(footstepList.getDefaultTransferDuration()); message.setUniqueId(footstepList.getUniqueId()); message.setFinalTransferDuration(footstepList.getFinalTransferDuration()); message.setOffsetFootstepsWithExecutionError(footstepList.getOffsetFootstepsWithExecutionError()); message.setExecutionTiming(footstepList.getExecutionTiming()); try message.setQueueingProperties((QueueableRosMessage) convertToRosMessage(footstepList.getQueueingProperties())); message.setFootstepDataList(convertedFootsteps);
private static Message customConvertToRosMessage(FootstepDataListMessage footstepList) throws Exception { Class<? extends Packet> ihmcMessageClass = FootstepDataListMessage.class; String rosMessageClassNameFromIHMCMessage = GenericROSTranslationTools.getRosMessageClassNameFromIHMCMessage(ihmcMessageClass.getSimpleName()); RosMessagePacket rosAnnotation = ihmcMessageClass.getAnnotation(RosMessagePacket.class); FootstepDataListRosMessage message = messageFactory.newFromType(rosAnnotation.rosPackage() + "/" + rosMessageClassNameFromIHMCMessage); message.setDefaultSwingTime(footstepList.defaultSwingTime); message.setDefaultTransferTime(footstepList.defaultTransferTime); message.setUniqueId(footstepList.getUniqueId()); message.setExecutionMode((byte) footstepList.executionMode.ordinal()); message.setFinalTransferTime(footstepList.finalTransferTime); List<FootstepDataRosMessage> convertedFootsteps = new ArrayList<>(); for (FootstepDataMessage footstepDataMessage : footstepList.footstepDataList) { convertedFootsteps.add((FootstepDataRosMessage) convertToRosMessage(footstepDataMessage)); } message.setFootstepDataList(convertedFootsteps); return message; }
private static Message customConvertToRosMessage(FootstepDataListMessage footstepList) throws Exception { Class<? extends Packet> ihmcMessageClass = FootstepDataListMessage.class; String rosMessageClassNameFromIHMCMessage = GenericROSTranslationTools.getRosMessageClassNameFromIHMCMessage(ihmcMessageClass.getSimpleName()); RosMessagePacket rosAnnotation = ihmcMessageClass.getAnnotation(RosMessagePacket.class); FootstepDataListRosMessage message = messageFactory.newFromType(rosAnnotation.rosPackage() + "/" + rosMessageClassNameFromIHMCMessage); message.setSwingTime(footstepList.swingTime); message.setTransferTime(footstepList.transferTime); message.setUniqueId(footstepList.getUniqueId()); message.setExecutionMode((byte) footstepList.executionMode.ordinal()); List<FootstepDataRosMessage> convertedFootsteps = new ArrayList<>(); for (FootstepDataMessage footstepDataMessage : footstepList.footstepDataList) { convertedFootsteps.add((FootstepDataRosMessage) convertToRosMessage(footstepDataMessage)); } message.setFootstepDataList(convertedFootsteps); return message; }
private static Packet customConvertToIHMCMessage(FootstepDataListRosMessage message) throws Exception { FootstepDataListMessage footsteps = new FootstepDataListMessage(); footsteps.swingTime = message.getSwingTime(); footsteps.transferTime = message.getTransferTime(); footsteps.setUniqueId(message.getUniqueId()); footsteps.executionMode = ExecutionMode.values[message.getExecutionMode()]; ArrayList<FootstepDataMessage> stepData = new ArrayList<>(); for (FootstepDataRosMessage footstepDataRosMessage : message.getFootstepDataList()) { stepData.add((FootstepDataMessage) convertToIHMCMessage(footstepDataRosMessage)); } footsteps.footstepDataList = stepData; return footsteps; }