public boolean handleHandTrajectoryCommand(HandTrajectoryCommand command, ReferenceFrame newControlFrame, boolean initializeToCurrent) { isReadyToHandleQueuedCommands.set(true); clearCommandQueue(command.getCommandId()); initializeTrajectoryGenerators(command, newControlFrame, initializeToCurrent, 0.0); return true; }
public boolean queueHandTrajectoryCommand(HandTrajectoryCommand command) { if (!isReadyToHandleQueuedCommands.getBooleanValue()) { PrintTools.warn(this, "The very first " + command.getClass().getSimpleName() + " of a series must be " + ExecutionMode.OVERRIDE + ". Aborting motion."); return false; } long previousCommandId = command.getPreviousCommandId(); if (previousCommandId != INVALID_MESSAGE_ID && lastCommandId.getLongValue() != INVALID_MESSAGE_ID && lastCommandId.getLongValue() != previousCommandId) { PrintTools.warn(this, "Previous command ID mismatch: previous ID from command = " + previousCommandId + ", last message ID received by the controller = " + lastCommandId.getLongValue() + ". Aborting motion."); isReadyToHandleQueuedCommands.set(false); clearCommandQueue(INVALID_MESSAGE_ID); abortTaskspaceControlState.set(true); return false; } if (command.getTrajectoryPoint(0).getTime() < 1.0e-5) { PrintTools.warn(this, "Time of the first trajectory point of a queued command must be greater than zero. Aborting motion."); isReadyToHandleQueuedCommands.set(false); clearCommandQueue(INVALID_MESSAGE_ID); abortTaskspaceControlState.set(true); return false; } commandQueue.add(command); numberOfQueuedCommands.increment(); lastCommandId.set(command.getCommandId()); return true; }