/** * Sets the angular part of this selection matrix to {@code angularPart}. * * @param angularPart the new value for the angular part of this selection matrix. Not modified. */ public void setAngularPart(SelectionMatrix3D angularPart) { this.angularPart.set(angularPart); }
/** * Sets the linear part of this selection matrix to {@code linearPart}. * * @param linearPart the new value for the linear part of this selection matrix. Not modified. */ public void setLinearPart(SelectionMatrix3D linearPart) { this.linearPart.set(linearPart); }
/** * Copy constructor. * * @param other the selection matrix to copy. Not modified. */ public SelectionMatrix3D(SelectionMatrix3D other) { set(other); }
public void setSelectionMatrix(SelectionMatrix3D selectionMatrix) { this.selectionMatrix.set(selectionMatrix); }
public void setSelectionMatrix(SelectionMatrix3D selectionMatrix) { this.selectionMatrix.set(selectionMatrix); }
@Override public void set(KinematicsToolboxCenterOfMassCommand other) { desiredPosition.setIncludingFrame(other.desiredPosition); selectionMatrix.set(other.selectionMatrix); weightVector.set(other.weightVector); }
/** * Same as {@link #set(SO3TrajectoryControllerCommand)} but does not change the trajectory * points. * * @param other */ public void setPropertiesOnly(SO3TrajectoryControllerCommand other) { setQueueableCommandVariables(other); selectionMatrix.set(other.getSelectionMatrix()); weightMatrix.set(other.getWeightMatrix()); }
/** * Same as {@link #set(EuclideanTrajectoryControllerCommand)} but does not change the trajectory * points. * * @param other */ public void setPropertiesOnly(EuclideanTrajectoryControllerCommand other) { setQueueableCommandVariables(other); selectionMatrix.set(other.getSelectionMatrix()); weightMatrix.set(other.getWeightMatrix()); trajectoryFrame = other.getTrajectoryFrame(); }
@Override public void set(KinematicsPlanningToolboxCenterOfMassCommand other) { for (int i = 0; i < other.waypointTimes.size(); i++) { waypointTimes.add(other.waypointTimes.get(i)); waypoints.add().set(other.waypoints.get(i)); } selectionMatrix.set(other.selectionMatrix); weightMatrix.set(other.weightMatrix); }
public static void convertToEuclidean(SE3TrajectoryControllerCommand command, EuclideanTrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().set(command.getSelectionMatrix().getLinearPart()); commandToPack.getWeightMatrix().set(command.getWeightMatrix().getLinearPart()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setIncludingFrame(command.getTrajectoryPointList()); } }
public static void convertToSO3(SE3TrajectoryControllerCommand command, SO3TrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().set(command.getSelectionMatrix().getAngularPart()); commandToPack.getWeightMatrix().set(command.getWeightMatrix().getAngularPart()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setIncludingFrame(command.getTrajectoryPointList()); }