public WalkingCommandConsumer(CommandInputManager commandInputManager, StatusMessageOutputManager statusMessageOutputManager, HighLevelHumanoidControllerToolbox momentumBasedController, WalkingMessageHandler walkingMessageHandler, HighLevelControlManagerFactory managerFactory, WalkingControllerParameters walkingControllerParameters, YoVariableRegistry parentRegistry) { this.walkingMessageHandler = walkingMessageHandler; yoTime = momentumBasedController.getYoTime(); this.commandInputManager = commandInputManager; this.statusMessageOutputManager = statusMessageOutputManager; pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); chestOrientationManager = managerFactory.getOrCreateChestOrientationManager(); headOrientationManager = managerFactory.getOrCreatedHeadOrientationManager(); manipulationControlModule = managerFactory.getOrCreateManipulationControlModule(); feetManager = managerFactory.getOrCreateFeetManager(); balanceManager = managerFactory.getOrCreateBalanceManager(); comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); isAutomaticManipulationAbortEnabled.set(walkingControllerParameters.allowAutomaticManipulationAbort()); icpErrorThresholdToAbortManipulation.set(0.04); minimumDurationBetweenTwoManipulationAborts.set(5.0); manipulationIgnoreInputsDurationAfterAbort.set(2.0); timeOfLastManipulationAbortRequest.set(Double.NEGATIVE_INFINITY); parentRegistry.addChild(registry); }
this.headOrientationManager = managerFactory.getOrCreatedHeadOrientationManager(); this.chestOrientationManager = managerFactory.getOrCreateChestOrientationManager(); this.manipulationControlModule = managerFactory.getOrCreateManipulationControlModule();