contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(estimatorReferenceFrames); SideDependentList<ContactableFoot> bipedFeet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet());
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(humanoidReferenceFrames); SideDependentList<ContactableFoot> bipedFeet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet());
contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i)); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(referenceFrames); SideDependentList<ContactableFoot> feet = new SideDependentList<>(contactableBodiesFactory.createFootContactableFeet());
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel); contactableBodiesFactory.setReferenceFrames(referenceFrames);