@Override public void move(RobotPositionMap positions, long lenMillisec) { MotionFrame frame = new DefaultMotionFrame(); frame.setFrameLengthMillisec(lenMillisec); frame.setGoalPositions(positions); frame.setPreviousPositions(myPreviousPositions); frame.setTimestampMillisecUTC(TimeUtils.now()); myRobotClient.sendMovement(frame); myPreviousPositions = positions; setGoals(myPreviousPositions); }
MotionFrame frame = new DefaultMotionFrame(); frame.setTimestampMillisecUTC(currentTimeUTC); frame.setFrameLengthMillisec(moveLengthMilliSec); frame.setPreviousPositions(new RobotPositionHashMap(myPreviousPositions)); RobotPositionMap goals = new Robot.RobotPositionHashMap(myGoalPositions.size());
frame.setFrameLengthMillisec(interval); myPreviousPositions.clear(); long cur = getCurrentTime(time);
MotionFrame frame = new DefaultMotionFrame(); frame.setTimestampMillisecUTC(time); frame.setFrameLengthMillisec(interval); for(Entry<Robot.JointId,NormalizedDouble> e : currentPos.entrySet()){
frame.setFrameLengthMillisec(interval); myPreviousPositions.clear(); long cur = getCurrentTime(time);
frame.setFrameLengthMillisec(moveLengthMilliSec); frame.setTimestampMillisecUTC(currentTimeUTC); frame.setPreviousPositions(new RobotPositionHashMap());