@Override public void getAcceleration(FrameVector accelerationToPack) { currentAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getAcceleration(FrameVector accelerationToPack) { currentAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getAcceleration(FrameVector accelerationToPack) { currentAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getAcceleration(FrameVector accelerationToPack) { desiredAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
public void getAngularVelocityIncludingFrame(FrameVector angularVelocityToPack) { angularVelocity.getFrameTupleIncludingFrame(angularVelocityToPack); }
public void getLinearVelocityIncludingFrame(FrameVector linearVelocityToPack) { linearVelocity.getFrameTupleIncludingFrame(linearVelocityToPack); }
public void get(FrameVector velocityToPack) { frameVector.getFrameTupleIncludingFrame(velocityToPack); }
public void getAcceleration(FrameVector accelerationToPack) { yoSmoothedAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
public void getAngularAcceleration(FrameVector accelerationToPack) { desiredAngularAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getVelocity(FrameVector velocityToPack) { currentVelocity.getFrameTupleIncludingFrame(velocityToPack); }
@Override public void getAngularVelocity(FrameVector velocityToPack) { currentAngularVelocity.getFrameTupleIncludingFrame(velocityToPack); }
@Override public void getVelocity(FrameVector velocityToPack) { currentVelocity.getFrameTupleIncludingFrame(velocityToPack); }
public void getAcceleration(FrameVector accelerationToPack) { yoCurrentAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getAngularAcceleration(FrameVector accelerationToPack) { currentAngularAcceleration.getFrameTupleIncludingFrame(accelerationToPack); }
@Override public void getVelocity(FrameVector velocityToPack) { currentVelocity.getFrameTupleIncludingFrame(velocityToPack); }
public void getDesiredCentroidalMomentumPivotVelocity(FrameVector desiredCentroidalMomentumPivotVelocityToPack) { CapturePointTools.computeDesiredCentroidalMomentumPivotVelocity(desiredCapturePointVelocity, desiredCapturePointAcceleration, omega0.getDoubleValue(), desiredCentroidalMomentumPivotVelocity); desiredCentroidalMomentumPivotVelocity.getFrameTupleIncludingFrame(desiredCentroidalMomentumPivotVelocityToPack); }
public void setFinalConditions(YoFramePoint finalPosition, YoFrameVector finalVelocity, ReferenceFrame attachedFrame) { finalPosition.getFrameTupleIncludingFrame(finalPositionInSpecificFrame); finalVelocity.getFrameTupleIncludingFrame(finalVelocityInSpecificFrame); finalPositionInSpecificFrame.changeFrame(attachedFrame); finalVelocityInSpecificFrame.changeFrame(attachedFrame); }
public void getWristRawMeasuredWrench(Wrench wrenchToPack, RobotSide robotSide) { if (wristRawMeasuredForces == null || wristRawMeasuredTorques == null) return; wristRawMeasuredForces.get(robotSide).getFrameTupleIncludingFrame(tempWristForce); wristRawMeasuredTorques.get(robotSide).getFrameTupleIncludingFrame(tempWristTorque); ReferenceFrame measurementFrames = wristForceSensorMeasurementFrames.get(robotSide); wrenchToPack.setToZero(measurementFrames, measurementFrames); wrenchToPack.setLinearPart(tempWristForce); wrenchToPack.setAngularPart(tempWristTorque); }
@Override public void processDataAtControllerRate() { logDataProcessorHelper.update(); admissibleGroundReactionWrench.setToZero(centerOfMassFrame, centerOfMassFrame); admissibleDesiredGroundReactionTorque.getFrameTupleIncludingFrame(tempVector); admissibleGroundReactionWrench.setAngularPart(tempVector); admissibleDesiredGroundReactionForce.getFrameTupleIncludingFrame(tempVector); admissibleGroundReactionWrench.setLinearPart(tempVector); centerOfPressureResolver.resolveCenterOfPressureAndNormalTorque(tempCoP, admissibleGroundReactionWrench, worldFrame); admissibleDesiredCenterOfPressure.set(tempCoP); }
public void getDesiredCapturePointPositionAndVelocity(FramePoint desiredCapturePointPositionToPack, FrameVector desiredCapturePointVelocityToPack, double time) { computeTimeInCurrentState(time); computeDesiredCapturePoint(timeInCurrentState.getDoubleValue()); desiredCapturePointPosition.getFrameTupleIncludingFrame(desiredCapturePointPositionToPack); desiredCapturePointVelocity.getFrameTupleIncludingFrame(desiredCapturePointVelocityToPack); }