How to use
setTrajectoryFrame
method
in
us.ihmc.humanoidRobotics.communication.controllerAPI.command.SE3TrajectoryControllerCommand

Best Java code snippets using us.ihmc.humanoidRobotics.communication.controllerAPI.command.SE3TrajectoryControllerCommand.setTrajectoryFrame (Showing top 3 results out of 315)

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public static void convertToSE3(SO3TrajectoryControllerCommand command, SE3TrajectoryControllerCommand commandToPack)
{
 commandToPack.setQueueableCommandVariables(command);
 commandToPack.setTrajectoryFrame(command.getTrajectoryFrame());
 commandToPack.getSelectionMatrix().clearLinearSelection();
 commandToPack.getSelectionMatrix().setAngularPart(command.getSelectionMatrix());
 commandToPack.getWeightMatrix().clearLinearWeights();
 commandToPack.getWeightMatrix().setAngularPart(command.getWeightMatrix());
 commandToPack.setUseCustomControlFrame(command.useCustomControlFrame());
 commandToPack.setControlFramePose(command.getControlFramePose());
 commandToPack.getTrajectoryPointList().setToOrientationTrajectoryIncludingFrame(command.getTrajectoryPointList());
}

public static void convertToSE3(EuclideanTrajectoryControllerCommand command, SE3TrajectoryControllerCommand commandToPack)
{
 commandToPack.setQueueableCommandVariables(command);
 commandToPack.setTrajectoryFrame(command.getTrajectoryFrame());
 commandToPack.getSelectionMatrix().clearAngularSelection();
 commandToPack.getSelectionMatrix().setLinearPart(command.getSelectionMatrix());
 commandToPack.getWeightMatrix().clearAngularWeights();
 commandToPack.getWeightMatrix().setLinearPart(command.getWeightMatrix());
 commandToPack.setUseCustomControlFrame(command.useCustomControlFrame());
 commandToPack.setControlFramePose(command.getControlFramePose());
 commandToPack.getTrajectoryPointList().setToPositionTrajectoryIncludingFrame(command.getTrajectoryPointList());
}

footTrajectoryCommand.getSE3Trajectory().setTrajectoryFrame(ReferenceFrame.getWorldFrame());
queuedControllerCommands.add(footTrajectoryCommand);

Popular methods of SE3TrajectoryControllerCommand

set
<init>
getSelectionMatrix
clear
getNumberOfTrajectoryPoints
Convenience method for accessing #trajectoryPointList. To get the list use #getTrajectoryPointList()
isCommandValid
setPropertiesOnly
Same as #set(SE3TrajectoryControllerCommand) but does not change the trajectory points.
addTrajectoryPoint
Convenience method for accessing #trajectoryPointList. To get the list use #getTrajectoryPointList()
clearQueuableCommandVariables
epsilonEquals
executionModeValid
getCommandId

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How to use setTrajectoryFramemethodin us.ihmc.humanoidRobotics.communication.controllerAPI.command.SE3TrajectoryControllerCommand

Best Java code snippets using us.ihmc.humanoidRobotics.communication.controllerAPI.command.SE3TrajectoryControllerCommand.setTrajectoryFrame (Showing top 3 results out of 315)

How to use
setTrajectoryFrame
method
in
us.ihmc.humanoidRobotics.communication.controllerAPI.command.SE3TrajectoryControllerCommand