private void generateFootsteps() { footsteps.clear(); TurnInPlaceFootstepGenerator footstepGenerator = new TurnInPlaceFootstepGenerator(feet, soleFrames, targetOrientationInWorldFrame, pathType); footstepGenerator.initialize(); footsteps.addAll(footstepGenerator.generateDesiredFootstepList()); FramePoint midFeetPoint = new FramePoint(); midFeetPoint.setToZero(referenceFrames.getMidFeetZUpFrame()); midFeetPoint.changeFrame(worldFrame); for(Footstep footstep : footsteps) { footstep.setZ(midFeetPoint.getZ()); } footstepListBehavior.set(footsteps, swingTime, transferTime); haveFootstepsBeenGenerated.set(true); }
private void generateFootsteps() { footsteps.clear(); TurnInPlaceFootstepGenerator footstepGenerator = new TurnInPlaceFootstepGenerator(feet, soleFrames, targetOrientationInWorldFrame, pathType); footstepGenerator.initialize(); footsteps.addAll(footstepGenerator.generateDesiredFootstepList()); FramePoint3D midFeetPoint = new FramePoint3D(); midFeetPoint.setToZero(referenceFrames.getMidFeetZUpFrame()); midFeetPoint.changeFrame(worldFrame); for (Footstep footstep : footsteps) { footstep.setZ(midFeetPoint.getZ()); } footstepListBehavior.set(footsteps, swingTime, transferTime); haveFootstepsBeenGenerated.set(true); }
public void requestSwing(RobotSide upcomingSwingSide, Footstep footstep, double swingTime) { if (!footstep.getTrustHeight()) { FramePoint supportAnklePosition = new FramePoint(ankleZUpFrames.get(upcomingSwingSide.getOppositeSide())); supportAnklePosition.changeFrame(footstep.getParentFrame()); double newHeight = supportAnklePosition.getZ(); footstep.setZ(newHeight); } FootControlModule footControlModule = footControlModules.get(upcomingSwingSide); footControlModule.setFootstep(footstep, swingTime); setContactStateForSwing(upcomingSwingSide); }
for (Footstep footstep : footsteps) footstep.setZ(footlocation.getZ());
transferToFootstep.setZ(transferToFootstep.getZ() + RandomNumbers.nextDouble(random, 0.0, maxZChange)); previousFootstep = transferToFootstep;