@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); }
frame.setTimestampMillisecUTC(currentTimeUTC); frame.setFrameLengthMillisec(moveLengthMilliSec); frame.setPreviousPositions(new RobotPositionHashMap(myPreviousPositions)); RobotPositionMap goals = new Robot.RobotPositionHashMap(myGoalPositions.size()); for(Entry<JointId,NormalizedDouble> e : myGoalPositions.entrySet()){
myPreviousPositions.put(djId, val); frame.setPreviousPositions(myPreviousPositions); myPreviousPositions.clear(); long next = getCurrentTime(time+interval);
myPreviousPositions.put(djId, val); frame.setPreviousPositions(myPreviousPositions); myPreviousPositions.clear(); cur = getCurrentTime(time+interval);
frame.setFrameLengthMillisec(moveLengthMilliSec); frame.setTimestampMillisecUTC(currentTimeUTC); frame.setPreviousPositions(new RobotPositionHashMap()); frame.setGoalPositions(new RobotPositionHashMap());