/** * Set this command to the contents of the z height of the pelvis trajectory command Copies the z * points, velocities, and the linear z weight and frame * * @param command the other command */ public void set(PelvisTrajectoryCommand command) { clear(command.getSE3Trajectory().getDataFrame()); euclideanTrajectory.setQueueableCommandVariables(command.getSE3Trajectory()); WeightMatrix3D weightMatrix = command.getSE3Trajectory().getWeightMatrix().getLinearPart(); double zAxisWeight = weightMatrix.getZAxisWeight(); WeightMatrix3D currentWeightMatrix = euclideanTrajectory.getWeightMatrix(); currentWeightMatrix.setZAxisWeight(zAxisWeight); currentWeightMatrix.setWeightFrame(weightMatrix.getWeightFrame()); for (int i = 0; i < command.getSE3Trajectory().getNumberOfTrajectoryPoints(); i++) { FrameSE3TrajectoryPoint trajectoryPoint = command.getSE3Trajectory().getTrajectoryPoint(i); double time = trajectoryPoint.getTime(); double position = trajectoryPoint.getPositionZ(); double velocity = trajectoryPoint.getLinearVelocityZ(); tempPoint.setToZero(); tempPoint.setZ(position); tempVector.setToZero(); tempVector.setZ(velocity); euclideanTrajectory.addTrajectoryPoint(time, tempPoint, tempVector); } enableUserPelvisControl = true; enableUserPelvisControlDuringWalking = command.isEnableUserPelvisControlDuringWalking(); }