ContactableBodiesFactory contactableBodiesFactory = robotModel.getContactPointParameters().getContactableBodiesFactory(); CommonHumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(estimatorFullRobotModel); SideDependentList<? extends ContactablePlaneBody> bipedFeet = contactableBodiesFactory.createFootContactableBodies(estimatorFullRobotModel, referenceFrames);
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i)); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(referenceFrames); SideDependentList<ContactableFoot> feet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet()); List<ContactablePlaneBody> additionalContacts = contactableBodiesFactory.createAdditionalContactPoints(); contactableBodiesFactory.disposeFactory();
ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(estimatorReferenceFrames); SideDependentList<ContactableFoot> bipedFeet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet()); contactableBodiesFactory.disposeFactory();
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
TwistCalculator twistCalculator = new TwistCalculator(ReferenceFrame.getWorldFrame(), fullRobotModel.getElevator()); SideDependentList<ContactableFoot> feet = contactableBodiesFactory.createFootContactableBodies(fullRobotModel, referenceFrames); SideDependentList<ContactablePlaneBody> handContactableBodies = contactableBodiesFactory.createHandContactableBodies(rootBody);
ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(referenceFrames); contactableFeet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet()); contactableBodiesFactory.disposeFactory();
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(humanoidReferenceFrames); SideDependentList<ContactableFoot> bipedFeet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet()); contactableBodiesFactory.disposeFactory();
private AvatarSimulation createAvatarSimulation() ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); ArrayList<String> additionalContactRigidBodyNames = contactPointParameters.getAdditionalContactRigidBodyNames(); ArrayList<String> additionaContactNames = contactPointParameters.getAdditionalContactNames(); ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionaContactNames.get(i), additionalContactTransforms.get(i));
SideDependentList<? extends ContactablePlaneBody> bipedFeet = contactableBodiesFactory.createFootContactableBodies(estimatorFullRobotModel, estimatorReferenceFrames);
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
SideDependentList<? extends ContactablePlaneBody> bipedFeet = contactableBodiesFactory.createFootContactableBodies(estimatorFullRobotModel, estimatorReferenceFrames);
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
RobotContactPointParameters contactPointParameters = robotModel.getContactPointParameters(); ContactableBodiesFactory contactableBodiesFactory = contactPointParameters.getContactableBodiesFactory(); SideDependentList<? extends ContactablePlaneBody> bipedFeet = contactableBodiesFactory.createFootContactableBodies(fullRobotModel, humanoidReferenceFrames);
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
RobotContactPointParameters contactPointParameters = robotModel.getContactPointParameters(); ContactableBodiesFactory contactableBodiesFactory = contactPointParameters.getContactableBodiesFactory(); SideDependentList<? extends ContactablePlaneBody> bipedFeet = contactableBodiesFactory.createFootContactableBodies(fullRobotModel, humanoidReferenceFrames);
contactableFeet = contactableBodiesFactory.createFootContactableBodies(fullRobotModel, referenceFrames);
contactableFeet = contactableBodiesFactory.createFootContactableBodies(fullRobotModel, referenceFrames);