How to use

getFullRobotModel

method

in

us.ihmc.wholeBodyController.diagnostics.DiagnosticControllerToolbox

private static IMUDefinition findIMUDefinition(String imuName, DiagnosticControllerToolbox toolbox)
{
 IMUDefinition imuDefinition = null;
 IMUDefinition[] imuDefinitions = toolbox.getFullRobotModel().getIMUDefinitions();
 for (int i = 0; i < imuDefinitions.length; i++)
 {
   if (imuDefinitions[i].getName().equals(imuName))
    imuDefinition = imuDefinitions[i];
 }
 if (imuDefinition == null)
   throw new RuntimeException("Could not find the IMUDefinition for the imu: " + imuName);
 return imuDefinition;
}

private static IMUDefinition findIMUDefinition(String imuName, DiagnosticControllerToolbox toolbox)
{
 IMUDefinition imuDefinition = null;
 IMUDefinition[] imuDefinitions = toolbox.getFullRobotModel().getIMUDefinitions();
 for (int i = 0; i < imuDefinitions.length; i++)
 {
   if (imuDefinitions[i].getName().equals(imuName))
    imuDefinition = imuDefinitions[i];
 }
 if (imuDefinition == null)
   throw new RuntimeException("Could not find the IMUDefinition for the imu: " + imuName);
 return imuDefinition;
}

public void addJointCheckUpDiagnostic()
 FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
 RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames();
 List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();

public void addJointCheckUpDiagnostic()
 FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
 RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames();
 List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();

public void addJointCheckUpDiagnostic()
 FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
 RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames();
 List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();

public PelvisIMUCheckUpDiagnosticTask(IMUDefinition imuToCheck, DiagnosticControllerToolbox toolbox)
 FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
 RigidBodyBasics pelvis = fullRobotModel.getPelvis();
 if (imuToCheck.getRigidBody() != pelvis)

public PelvisIMUCheckUpDiagnosticTask(IMUDefinition imuToCheck, DiagnosticControllerToolbox toolbox)
 FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
 RigidBody pelvis = fullRobotModel.getPelvis();
 if (imuToCheck.getRigidBody() != pelvis)

FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
DiagnosticParameters diagnosticParameters = toolbox.getDiagnosticParameters();

FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel();
JointDesiredOutputList lowLevelOutput = toolbox.getLowLevelOutput();
DiagnosticParameters diagnosticParameters = toolbox.getDiagnosticParameters();