@Override public void setPositionToZero() { position.setToZero(); }
private void reset() { rootJointPosition.setToZero(); }
@Override public void setPositionToZero() { position.setToZero(); }
@Override public void setPositionToZero() { position.setToZero(); }
@Override public void setPositionToZero() { position.setToZero(); }
@Override public void setToZero() { position.setToZero(); orientation.setToZero(); }
public void setToZero() { position.setToZero(); orientation.setToZero(); }
@Override public void informDone() { desiredPosition.setToZero(true); desiredVelocity.setToZero(true); desiredAcceleration.setToZero(true); }
@Override public void informDone() { desiredPosition.setToZero(true); desiredVelocity.setToZero(true); desiredAcceleration.setToZero(true); }
public void informDone() { desiredPosition.setToZero(true); desiredVelocity.setToZero(true); desiredAcceleration.setToZero(true); } }
@Override protected void setBehaviorInput() { if (CREATE_COACTIVE_ELEMENT) { coactiveElement.searchingForBall.set(true); coactiveElement.foundBall.set(false); coactiveElement.ballPositions.get(0).setToZero(); } } };
private void updateCurrents() { if (numberOfFeetTrusted.getIntegerValue() == numberOfFeet) { for (int i = 0; i < numberOfFeet; i++) { RigidBody foot = allFeet.get(i); footPosition.setToZero(footSoleFrames.get(foot)); currentFootPositions.get(foot).setAndMatchFrame(footPosition); } currentAverageFootPosition.setToZero(); for (int i = 0; i < numberOfFeet; i++) { RigidBody foot = allFeet.get(i); currentAverageFootPosition.add(currentFootPositions.get(foot)); } currentAverageFootPosition.scale(1.0 / numberOfFeet); } else { for (int i = 0; i < numberOfFeet; i++) currentFootPositions.get(allFeet.get(i)).setToNaN(); currentAverageFootPosition.setToNaN(); } }
public void update() { if (footRawCoPPositionsInWorld != null) { overallRawCoPPositionInWorld.setToZero(); double totalFootForce = 0.0; for (int i = 0; i < footList.size(); i++) { RigidBody rigidBody = footList.get(i); footSwitches.get(rigidBody).computeAndPackCoP(tempRawCoP2d); tempRawCoP.setIncludingFrame(tempRawCoP2d.getReferenceFrame(), tempRawCoP2d.getX(), tempRawCoP2d.getY(), 0.0); tempRawCoP.changeFrame(worldFrame); footRawCoPPositionsInWorld.get(rigidBody).set(tempRawCoP); footSwitches.get(rigidBody).computeAndPackFootWrench(tempWrench); double singleFootForce = tempWrench.getLinearPartZ(); totalFootForce += singleFootForce; tempRawCoP.scale(singleFootForce); overallRawCoPPositionInWorld.add(tempRawCoP); } overallRawCoPPositionInWorld.scale(1.0 / totalFootForce); } }
referenceAverageFootPosition.setToZero(); for (int i = 0; i < trustedFeet.size(); i++)
@Override public void onBehaviorExited() { pipelineSetUp = false; if (CREATE_COACTIVE_ELEMENT) { coactiveElement.searchingForBall.set(false); coactiveElement.waitingForValidation.set(false); coactiveElement.foundBall.set(false); coactiveElement.ballPositions.get(0).setToZero(); } for (AbstractBehavior behavior : behaviors) { behavior.onBehaviorExited(); } }
desiredPosition.setToZero(true); desiredVelocity.setToZero(true); desiredAcceleration.setToZero(true);