public void publish(float[] jointAngles, float[] jointVelocities, float[] jointTorques, Time t) { for (int i = 0; i < jointIndices.length; i++) { jointAnglesSubSet[i] = jointAngles[jointIndices[i]]; jointVelocitiesSubSet[i] = jointVelocities[jointIndices[i]]; jointJointTorquesSubSet[i] = jointTorques[jointIndices[i]]; } jointStatePublisher.publish(jointNames, jointAnglesSubSet, jointVelocitiesSubSet, jointJointTorquesSubSet, t); } }
public void publish(float[] jointAngles, float[] jointVelocities, float[] jointTorques, Time t) { for (int i = 0; i < jointIndices.length; i++) { jointAnglesSubSet[i] = jointAngles[jointIndices[i]]; jointVelocitiesSubSet[i] = jointVelocities[jointIndices[i]]; jointJointTorquesSubSet[i] = jointTorques[jointIndices[i]]; } jointStatePublisher.publish(jointNames, jointAnglesSubSet, jointVelocitiesSubSet, jointJointTorquesSubSet, t); } }
@Override public void connected() { if(initialValue != null) { publish(initialValue); } }
public void publish(float[] jointAngles, float[] jointVelocities, float[] jointTorques, Time t) { for (int i = 0; i < jointIndices.length; i++) { jointAnglesSubSet[i] = jointAngles[jointIndices[i]]; jointVelocitiesSubSet[i] = jointVelocities[jointIndices[i]]; jointJointTorquesSubSet[i] = jointTorques[jointIndices[i]]; } jointStatePublisher.publish(jointNames, jointAnglesSubSet, jointVelocitiesSubSet, jointJointTorquesSubSet, t); } }
@Override public void connected() { if(initialValue != null) { publish(initialValue); } }
public void publish(ArrayList<String> nameList, float[] jointAngles, float[] jointVelocities, float[] jointTorques, Time t) { publish(nameList, toDoubleArray(jointAngles), toDoubleArray(jointVelocities), toDoubleArray(jointTorques), t); } }
public void publish(ArrayList<String> nameList, float[] jointAngles, float[] jointVelocities, float[] jointTorques, Time t) { publish(nameList, toDoubleArray(jointAngles), toDoubleArray(jointVelocities), toDoubleArray(jointTorques), t); } }
public void publish(List<String> name, double[] position, double[] velocity, double[] effort, Time t) { JointState message = getMessage(); Header header = message.getHeader(); header.setStamp(t); header.setFrameId("/world"); header.setSeq(seq++); message.setHeader(header); if (name != null) { message.setName(name); } if (position != null) { message.setPosition(position); } if(velocity != null) { message.setVelocity(velocity); } if(effort != null) { message.setEffort(effort); } publish(message); }
public void publish(List<String> name, double[] position, double[] velocity, double[] effort, Time t) { JointState message = getMessage(); Header header = message.getHeader(); header.setStamp(t); header.setFrameId("/world"); header.setSeq(seq++); message.setHeader(header); if (name != null) { message.setName(name); } if (position != null) { message.setPosition(position); } if(velocity != null) { message.setVelocity(velocity); } if(effort != null) { message.setEffort(effort); } publish(message); }
jointStatePublisher.publish(nameList, jointAngles, jointVelocities, jointTorques, t);
jointStatePublisher.publish(nameList, jointAngles, jointVelocities, jointTorques, t);
robotConfigurationData.getRootTranslation()); jointStatePublisher.publish(nameList, jointAngles, jointVelocities, jointTorques, t);