@Override public void set(QuadrupedBodyTrajectoryCommand other) { isExpressedInAbsoluteTime = other.isExpressedInAbsoluteTime; se3Trajectory.set(other.se3Trajectory); }
@Override public void set(FootTrajectoryCommand other) { super.set(other); setPropertiesOnly(other); }
@Override public void set(FootTrajectoryMessage message) { super.set(message); this.robotSide = message.getRobotSide(); }
@Override public void set(HandTrajectoryCommand other) { se3Trajectory.set(other.se3Trajectory); wrenchTrajectory.set(other.wrenchTrajectory); robotSide = other.robotSide; }
@Override public void set(FootTrajectoryCommand other) { se3Trajectory.set(other.se3Trajectory); setPropertiesOnly(other); }
public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, SE3TrajectoryControllerCommand taskspaceTrajectoryCommand, JointspaceTrajectoryCommand jointspaceTrajectoryCommand) { this.robotSide = robotSide; this.jointspaceTrajectoryCommand.set(jointspaceTrajectoryCommand); this.taskspaceTrajectoryCommand.set(taskspaceTrajectoryCommand); }
@Override public void set(HandTrajectoryCommand other) { super.set(other); setPropertiesOnly(other); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, QuadrupedBodyTrajectoryMessage message) { isExpressedInAbsoluteTime = message.getIsExpressedInAbsoluteTime(); se3Trajectory.set(resolver, message.getSe3Trajectory()); }
@Override public void set(HandTrajectoryMessage message) { super.set(message); this.robotSide = message.getRobotSide(); this.baseForControl = message.getBase(); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, FootTrajectoryMessage message) { se3Trajectory.set(resolver, message.getSe3Trajectory()); robotSide = RobotSide.fromByte(message.getRobotSide()); }
@Override public void set(HandHybridJointspaceTaskspaceTrajectoryCommand other) { robotSide = other.robotSide; taskspaceTrajectoryCommand.set(other.getTaskspaceTrajectoryCommand()); jointspaceTrajectoryCommand.set(other.getJointspaceTrajectoryCommand()); }
@Override public void set(PelvisTrajectoryCommand other) { setEnableUserPelvisControlDuringWalking(other.isEnableUserPelvisControlDuringWalking()); setEnableUserPelvisControl(other.isEnableUserPelvisControl()); se3Trajectory.set(other.se3Trajectory); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, HandTrajectoryMessage message) { se3Trajectory.set(resolver, message.getSe3Trajectory()); wrenchTrajectory.set(resolver, message.getWrenchTrajectory()); robotSide = RobotSide.fromByte(message.getRobotSide()); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, PelvisTrajectoryMessage message) { setEnableUserPelvisControlDuringWalking(message.getEnableUserPelvisControlDuringWalking()); setEnableUserPelvisControl(message.getEnableUserPelvisControl()); se3Trajectory.set(resolver, message.getSe3Trajectory()); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, HandHybridJointspaceTaskspaceTrajectoryMessage message) { robotSide = RobotSide.fromByte(message.getRobotSide()); jointspaceTrajectoryCommand.setFromMessage(message.getJointspaceTrajectoryMessage()); taskspaceTrajectoryCommand.set(resolver, message.getTaskspaceTrajectoryMessage()); }
message.getSe3Trajectory().getFrameInformation().setDataReferenceFrameId(MessageTools.toFrameId(worldFrame)); FootTrajectoryCommand command = new FootTrajectoryCommand(); command.getSE3Trajectory().set(worldFrame, worldFrame, message.getSe3Trajectory()); controllerCommands.add(command); message.getSe3Trajectory().getFrameInformation().setDataReferenceFrameId(MessageTools.toFrameId(worldFrame)); HandTrajectoryCommand command = new HandTrajectoryCommand(); command.getSE3Trajectory().set(worldFrame, chestFrame, message.getSe3Trajectory()); controllerCommands.add(command);
command.set(resolver, message); manager.handleTaskspaceTrajectoryCommand(command); manager.compute();
command.set(worldFrame, worldFrame, message); manager.handleTaskspaceTrajectoryCommand(command); manager.compute();
command.set(worldFrame, worldFrame, message); manager.handleTaskspaceTrajectoryCommand(command); manager.compute();