private void setTrajectoryParameters() { this.trajectoryParameters = trajectoryParametersProvider.getTrajectoryParameters(); }
TrajectoryParametersProvider trajectoryParametersProvider = new TrajectoryParametersProvider(trajectoryParameters);
for (int i = 0; i < swingWaypoints.size(); i++) this.swingWaypointsForSole.add().setIncludingFrame(worldFrame, swingWaypoints.get(i)); trajectoryParametersProvider.set(new TrajectoryParameters(trajectoryType)); return; trajectoryParametersProvider.set(new TrajectoryParameters(TrajectoryType.OBSTACLE_CLEARANCE, footstep.getSwingHeight())); trajectoryParametersProvider.set(new TrajectoryParameters(trajectoryType, footstep.getSwingHeight()));
TrajectoryParametersProvider trajectoryParametersProvider = new TrajectoryParametersProvider(trajectoryParameters);
protected void reinitializeTrajectory() { orientationTrajectoryGenerator.setTrajectoryTime(swingTimeProvider.getValue()); if (useNewSwingTrajectoyOptimization) { TrajectoryType trajectoryType = trajectoryParametersProvider.getTrajectoryParameters().getTrajectoryType(); finalConfigurationProvider.getPosition(finalPosition); touchdownVelocityProvider.get(finalVelocity); swingTrajectoryGeneratorNew.setFinalConditions(finalPosition, finalVelocity); swingTrajectoryGeneratorNew.setStepTime(swingTimeProvider.getValue()); swingTrajectoryGeneratorNew.setTrajectoryType(trajectoryType, swingWaypointsForSole); } positionTrajectoryGenerator.initialize(); orientationTrajectoryGenerator.initialize(); trajectoryWasReplanned = false; replanTrajectory.set(false); }
protected void initializeTrajectory() { if (!hasInitialAngularConfigurationBeenProvided.getBooleanValue()) { currentAngularVelocityProvider.get(initialAngularVelocity); initialOrientation.setToZero(controlFrame); orientationTrajectoryGenerator.setInitialConditions(initialOrientation, initialAngularVelocity); } orientationTrajectoryGenerator.setTrajectoryTime(swingTimeProvider.getValue()); if (useNewSwingTrajectoyOptimization) { TrajectoryType trajectoryType = trajectoryParametersProvider.getTrajectoryParameters().getTrajectoryType(); double swingHeight = trajectoryParametersProvider.getTrajectoryParameters().getSwingHeight(); initialConfigurationProvider.getPosition(initialPosition); initialVelocityProvider.get(initialVelocity); finalConfigurationProvider.getPosition(finalPosition); touchdownVelocityProvider.get(finalVelocity); stanceConfigurationProvider.getPosition(stanceFootPosition); swingTrajectoryGeneratorNew.setInitialConditions(initialPosition, initialVelocity); swingTrajectoryGeneratorNew.setFinalConditions(finalPosition, finalVelocity); swingTrajectoryGeneratorNew.setStepTime(swingTimeProvider.getValue()); swingTrajectoryGeneratorNew.setTrajectoryType(trajectoryType, swingWaypointsForSole); swingTrajectoryGeneratorNew.setSwingHeight(swingHeight); swingTrajectoryGeneratorNew.setStanceFootPosition(stanceFootPosition); } positionTrajectoryGenerator.initialize(); orientationTrajectoryGenerator.initialize(); trajectoryWasReplanned = false; replanTrajectory.set(false); }