/** * Selects all the axes and clears the selection frame. * <p> * Until the selection is changed, this selection matrix is independent from its selection frame. * </p> */ public void resetSelection() { angularPart.resetSelection(); linearPart.resetSelection(); }
/** * Selects all the linear axes and clears the linear selection frame. * <p> * The angular part remains unmodified. * </p> */ public void resetLinearSelection() { linearPart.resetSelection(); }
/** * Selects all the angular axes and clears the angular selection frame. * <p> * The linear part remains unmodified. * </p> */ public void resetAngularSelection() { angularPart.resetSelection(); }
/** * Sets this selection matrix to only select the linear axes. * <p> * The selection frames are cleared and until the selection is changed, this selection matrix is * independent from its selection frame. * </p> */ public void setToLinearSelectionOnly() { angularPart.clearSelection(); linearPart.resetSelection(); }
/** * Sets this selection matrix to only select the angular axes. * <p> * The selection frames are cleared and until the selection is changed, this selection matrix is * independent from its selection frame. * </p> */ public void setToAngularSelectionOnly() { angularPart.resetSelection(); linearPart.clearSelection(); }
public void clear(ReferenceFrame referenceFrame) { trajectoryPointList.clear(referenceFrame); clearQueuableCommandVariables(); selectionMatrix.resetSelection(); weightMatrix.clear(); }
@Override public void clear() { clearQueuableCommandVariables(); trajectoryPointList.clear(); selectionMatrix.resetSelection(); weightMatrix.clear(); }
@Override public void clear() { desiredPosition.setToNaN(ReferenceFrame.getWorldFrame()); selectionMatrix.resetSelection(); weightVector.zero(); }
@Override public void clear() { waypoints.clear(); waypointTimes.clear(); selectionMatrix.resetSelection(); weightMatrix.clear(); }
@Override public void clear() { clearQueuableCommandVariables(); trajectoryPointList.clear(); selectionMatrix.resetSelection(); weightMatrix.clear(); }
public void clear(ReferenceFrame referenceFrame) { clearQueuableCommandVariables(); trajectoryPointList.clear(referenceFrame); selectionMatrix.resetSelection(); weightMatrix.clear(); }
@Override public void setFromMessage(EuclideanTrajectoryMessage message) { HumanoidMessageTools.checkIfDataFrameIdsMatch(message.getFrameInformation(), trajectoryPointList.getReferenceFrame()); List<EuclideanTrajectoryPointMessage> trajectoryPointMessages = message.getTaskspaceTrajectoryPoints(); int numberOfPoints = trajectoryPointMessages.size(); for (int i = 0; i < numberOfPoints; i++) { EuclideanTrajectoryPointMessage euclideanTrajectoryPointMessage = trajectoryPointMessages.get(i); trajectoryPointList.addTrajectoryPoint(euclideanTrajectoryPointMessage.getTime(), euclideanTrajectoryPointMessage.getPosition(), euclideanTrajectoryPointMessage.getLinearVelocity()); } setQueueableCommandVariables(message.getQueueingProperties()); selectionMatrix.resetSelection(); selectionMatrix.setAxisSelection(message.getSelectionMatrix().getXSelected(), message.getSelectionMatrix().getYSelected(), message.getSelectionMatrix().getZSelected()); weightMatrix.clear(); weightMatrix.setWeights(message.getWeightMatrix().getXWeight(), message.getWeightMatrix().getYWeight(), message.getWeightMatrix().getZWeight()); useCustomControlFrame = message.getUseCustomControlFrame(); message.getControlFramePose().get(controlFramePoseInBodyFrame); }
@Override public void setFromMessage(SO3TrajectoryMessage message) { HumanoidMessageTools.checkIfDataFrameIdsMatch(message.getFrameInformation(), trajectoryPointList.getReferenceFrame()); List<SO3TrajectoryPointMessage> trajectoryPointMessages = message.getTaskspaceTrajectoryPoints(); int numberOfPoints = trajectoryPointMessages.size(); for (int i = 0; i < numberOfPoints; i++) { SO3TrajectoryPointMessage so3TrajectoryPointMessage = trajectoryPointMessages.get(i); trajectoryPointList.addTrajectoryPoint(so3TrajectoryPointMessage.getTime(), so3TrajectoryPointMessage.getOrientation(), so3TrajectoryPointMessage.getAngularVelocity()); } setQueueableCommandVariables(message.getQueueingProperties()); selectionMatrix.resetSelection(); selectionMatrix.setAxisSelection(message.getSelectionMatrix().getXSelected(), message.getSelectionMatrix().getYSelected(), message.getSelectionMatrix().getZSelected()); weightMatrix.clear(); weightMatrix.setWeights(message.getWeightMatrix().getXWeight(), message.getWeightMatrix().getYWeight(), message.getWeightMatrix().getZWeight()); useCustomControlFrame = message.getUseCustomControlFrame(); message.getControlFramePose().get(controlFramePoseInBodyFrame); }
assertEquals(zSelected, selectionMatrix3D.isZSelected()); selectionMatrix3D.resetSelection(); assertTrue(selectionMatrix3D.isXSelected()); assertTrue(selectionMatrix3D.isYSelected()); selectionMatrix3D.resetSelection(); assertNull(selectionMatrix3D.getSelectionFrame());