public static FootstepTiming[] createTimings(int numberOfTimings) { FootstepTiming[] timings = new FootstepTiming[numberOfTimings]; for (int i = 0; i < numberOfTimings; i++) { timings[i] = new FootstepTiming(); } return timings; } }
public Footstep(RigidBody endEffector, RobotSide robotSide, ReferenceFrame soleFrame, PoseReferenceFrame poseReferenceFrame, boolean trustHeight, List<Point2d> predictedContactPoints) { this(createAutomaticID(endEffector), endEffector, robotSide, soleFrame, poseReferenceFrame, trustHeight, predictedContactPoints, TrajectoryType.DEFAULT, 0.0); }
public static Footstep[] createFootsteps(int numberOfSteps) { Footstep[] footsteps = new Footstep[numberOfSteps]; for (int i = 0; i < numberOfSteps; i++) { footsteps[i] = new Footstep(); } return footsteps; }
private void assertStepSide(String message, Footstep footstep, RobotSide expectedSide) { if (expectedSide != null) assertTrue(message + " first step should be " + expectedSide, expectedSide == footstep.getRobotSide()); }
public void visualizeFootstep(Footstep footstep, ContactablePlaneBody bipedFoot) { RobotSide robotSide = footstep.getRobotSide(); int index = indices.get(robotSide); SingleFootstepVisualizer singleFootstepVisualizer = singleFootstepVisualizers.get(robotSide).get(index); singleFootstepVisualizer.visualizeFootstep(footstep, bipedFoot); index++; if (index >= singleFootstepVisualizers.get(robotSide).size()) { index = 0; } indices.set(robotSide, index); } }
private void testAPoint(boolean assertPositionConditions, boolean assertPointConditions) throws InsufficientDataException { FootSpoof footSpoof = new FootSpoof("footSpoof"); testAPoint(assertPositionConditions, assertPointConditions, footSpoof); }
public FootstepTiming(double swingTime, double transferTime) { setTimings(swingTime, transferTime); }
public void setCurrentDesiredFootstep(Footstep currentDesiredFootstep) { this.currentDesiredFootstep.setPose(currentDesiredFootstep); }
public static FramePoint3D getCenterOfFootstep(Footstep footstep) { return getCenterOfFootstep(footstep, RobotSide.LEFT, 0.0, 0.0); }
public void visualizeInitialFootsteps(SideDependentList<? extends ContactablePlaneBody> bipedFeet, SideDependentList<Footstep> initialFeet) { bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.LEFT), bipedFeet.get(RobotSide.LEFT)); bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.RIGHT), bipedFeet.get(RobotSide.RIGHT)); }
public boolean isNextFootstepFor(RobotSide swingSide) { if (!hasUpcomingFootsteps()) return false; else return peek(0).getRobotSide() == swingSide; }
public FootstepTask(FullHumanoidRobotModel fullRobotModel, RobotSide robotSide, FootstepListBehavior footstepListBehavior, FramePose3D footPose) { super(footstepListBehavior); footsteps.add(new Footstep(robotSide, footPose)); this.footstepListBehavior = footstepListBehavior; }
public FootstepTiming(double swingTime, double touchdownTime, double transferTime) { setTimings(swingTime, touchdownTime, transferTime); }
public static FramePoint getCenterOfFootstep(Footstep footstep) { return getCenterOfFootstep(footstep, RobotSide.LEFT, 0.0, 0.0); }
public Footstep(RigidBody endEffector, RobotSide robotSide, ReferenceFrame soleFrame, PoseReferenceFrame poseReferenceFrame) { this(createAutomaticID(endEffector), endEffector, robotSide, soleFrame, poseReferenceFrame, true); }
public static Footstep generateStandingFootstep(RobotSide side, RigidBodyBasics foot, ReferenceFrame soleFrame) { FramePose3D footFramePose = new FramePose3D(soleFrame); footFramePose.changeFrame(worldFrame); boolean trustHeight = false; Footstep footstep = new Footstep(side, footFramePose, trustHeight); return footstep; }
public FootstepTiming(double swingTime, double transferTime) { setTimings(swingTime, transferTime); }
public Footstep(RigidBody endEffector, RobotSide robotSide, ReferenceFrame soleFrame, PoseReferenceFrame poseReferenceFrame, boolean trustHeight) { this(createAutomaticID(endEffector), endEffector, robotSide, soleFrame, poseReferenceFrame, trustHeight); }