public PelvisTrajectoryCommand(Random random) { se3Trajectory = new SE3TrajectoryControllerCommand(random); }
public PelvisTrajectoryCommand() { se3Trajectory = new SE3TrajectoryControllerCommand(); }
public FootTrajectoryCommand() { se3Trajectory = new SE3TrajectoryControllerCommand(); }
public QuadrupedBodyTrajectoryCommand(Random random) { se3Trajectory = new SE3TrajectoryControllerCommand(random); }
public QuadrupedBodyTrajectoryCommand() { se3Trajectory = new SE3TrajectoryControllerCommand(); }
public HandTrajectoryCommand(RobotSide robotSide, ReferenceFrame dataFrame, ReferenceFrame trajectoryFrame) { se3Trajectory = new SE3TrajectoryControllerCommand(dataFrame, trajectoryFrame); wrenchTrajectory = new WrenchTrajectoryControllerCommand(dataFrame, trajectoryFrame); this.robotSide = robotSide; }
public FootTrajectoryCommand(Random random) { se3Trajectory = new SE3TrajectoryControllerCommand(random); robotSide = RobotSide.generateRandomRobotSide(random); }
public HandTrajectoryCommand() { se3Trajectory = new SE3TrajectoryControllerCommand(); wrenchTrajectory = new WrenchTrajectoryControllerCommand(); }
public HandTrajectoryCommand(Random random) { se3Trajectory = new SE3TrajectoryControllerCommand(random); wrenchTrajectory = new WrenchTrajectoryControllerCommand(random); robotSide = RobotSide.generateRandomRobotSide(random); }
public HandHybridJointspaceTaskspaceTrajectoryCommand(Random random) { this(RobotSide.generateRandomRobotSide(random), new SE3TrajectoryControllerCommand(random), new JointspaceTrajectoryCommand(random)); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testSO3() { Random random = new Random(4219L); for (int i = 0; i < 100; i++) { SO3TrajectoryControllerCommand expected = new SO3TrajectoryControllerCommand(random); SE3TrajectoryControllerCommand intermediate = new SE3TrajectoryControllerCommand(); SO3TrajectoryControllerCommand actual = new SO3TrajectoryControllerCommand(); CommandConversionTools.convertToSE3(expected, intermediate); CommandConversionTools.convertToSO3(intermediate, actual); Assert.assertEquals(0, intermediate.getSelectionMatrix().getLinearPart().getNumberOfSelectedAxes()); Assert.assertTrue(expected.epsilonEquals(actual, Double.MIN_VALUE)); } }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testEuclidean() { Random random = new Random(5204L); for (int i = 0; i < 100; i++) { EuclideanTrajectoryControllerCommand expected = new EuclideanTrajectoryControllerCommand(random); SE3TrajectoryControllerCommand intermediate = new SE3TrajectoryControllerCommand(); EuclideanTrajectoryControllerCommand actual = new EuclideanTrajectoryControllerCommand(); CommandConversionTools.convertToSE3(expected, intermediate); CommandConversionTools.convertToEuclidean(intermediate, actual); Assert.assertEquals(0, intermediate.getSelectionMatrix().getAngularPart().getNumberOfSelectedAxes()); Assert.assertTrue(expected.epsilonEquals(actual, Double.MIN_VALUE)); } } }
message.getLinearWeightMatrix().set(MessageTools.createWeightMatrix3DMessage(weightMatrix.getLinearPart())); SE3TrajectoryControllerCommand command = new SE3TrajectoryControllerCommand(); command.set(resolver, message); manager.handleTaskspaceTrajectoryCommand(command);
message.getLinearWeightMatrix().set(MessageTools.createWeightMatrix3DMessage(weightMatrix.getLinearPart())); SE3TrajectoryControllerCommand command = new SE3TrajectoryControllerCommand(); command.set(worldFrame, worldFrame, message); manager.handleTaskspaceTrajectoryCommand(command);
message.getTaskspaceTrajectoryPoints().add().set(HumanoidMessageTools.createSE3TrajectoryPointMessage(trajectoryTime, position, orientation, linearVelocity, angularVelocity)); SE3TrajectoryControllerCommand command = new SE3TrajectoryControllerCommand(); command.set(worldFrame, worldFrame, message); manager.handleTaskspaceTrajectoryCommand(command);