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private void myMethod () {Connection c =
DataSource dataSource;dataSource.getConnection()
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}
@Override protected void setBehaviorInput() { Quaternion rot = new Quaternion(); rot.setEuler(0, 0, Math.toRadians(-10)); ChestTrajectoryMessage chestOrientationPacket = HumanoidMessageTools.createChestTrajectoryMessage(2, rot, referenceFrames.getPelvisZUpFrame()); yawChestBehavior.setInput(chestOrientationPacket); publishTextToSpeack("Setting Chest Yaw"); currentState = BasicStates.YAW_CHEST; } };
actualQuaternion.setEuler(eulerAngles); EuclidCoreTestTools.assertQuaternionGeometricallyEquals(expectedQuaternion, actualQuaternion, EPS);
assertEquals(initialFrame, frameQuaternion.getReferenceFrame()); frameQuaternion.setEulerIncludingFrame(newFrame, eulerAngles); quaternion.setEuler(eulerAngles); assertEquals(newFrame, frameQuaternion.getReferenceFrame()); EuclidCoreTestTools.assertTuple4DEquals(quaternion, frameQuaternion, EPSILON); assertEquals(initialFrame, frameQuaternion.getReferenceFrame()); frameQuaternion.setEulerIncludingFrame(newFrame, rotX, rotY, rotZ); quaternion.setEuler(rotX, rotY, rotZ); assertEquals(newFrame, frameQuaternion.getReferenceFrame()); EuclidCoreTestTools.assertTuple4DEquals(quaternion, frameQuaternion, EPSILON);