@Override public boolean switchFoot() { return !isSwinging(); }
public ForceSensorData(ForceSensorDefinition forceSensorDefinition) { measurementFrame = forceSensorDefinition.getSensorFrame(); measurementLink = forceSensorDefinition.getRigidBody(); }
public ReferenceFrame getMeasurementFrame() { return forceSensorData.getMeasurementFrame(); }
public ForceSensorDataHolder(List<ForceSensorDefinition> forceSensors) { for (ForceSensorDefinition forceSensorDefinition : forceSensors) { ForceSensorData forceSensor = new ForceSensorData(forceSensorDefinition); forceSensorDefinitions.add(forceSensorDefinition); this.forceSensors.put(forceSensorDefinition, forceSensor); sensorNameToDefintionMap.put(forceSensorDefinition.getSensorName(), forceSensorDefinition); } }
public void getIntoControllerModel() { intermediateToControllerCopier.copy(); rawDataIntermediateToControllerCopier.copy(); controllerForceSensorDataHolder.set(intermediateForceSensorDataHolder); controllerCenterOfMassDataHolder.set(intermediateCenterOfMassDataHolder); controllerContactSensorHolder.set(intermediateContactSensorHolder); }
public void set(ContactSensorHolder otherContactSensorHolder) { for(int i = 0; i < contactSensorDefinitions.size(); i++) { final ContactSensorDefinition contactSensorDefinition = contactSensorDefinitions.get(i); ContactSensor otherContactSensor = otherContactSensorHolder.getByDefinition(contactSensorDefinition); contactSensors.get(contactSensorDefinition).setIsInContact(otherContactSensor.isInContact()); } } }
private long calculateEstimatorChecksum() { estimatorChecksumCalculator.reset(); estimatorChecksum.calculate(); estimatorForceSensorDataHolder.calculateChecksum(estimatorChecksumCalculator); estimatorCenterOfMassDataHolder.calculateChecksum(estimatorChecksumCalculator); return estimatorChecksumCalculator.getValue(); }
@Override public boolean equals(Object other) { if(other instanceof ContactSensorDefinition) { ContactSensorDefinition otherSensor = (ContactSensorDefinition) other; return otherSensor.getSensorName().equals(getSensorName()) && otherSensor.getParentJointName().equals(getParentJointName()); } return false; } }
private void processAngularVelocity() { // use orientationOffset^T instead of rotationMatrix, because the angular velocity is measured in IMU body! // omega^B = R^B_IMUBody * omega^IMUBody rawIMUSensors.getAngularVelocity(angularVelocity, imuIndex); orientationOffsetTranspose.transform(angularVelocity); processedSensors.setAngularVelocityInBody(angularVelocity, imuIndex); }
private void processOrientation() { rawIMUSensors.getOrientation(rotationMatrixBeforeOffset, imuIndex); rotationMatrix.mul(rotationMatrixBeforeOffset, orientationOffset); processedSensors.setRotation(rotationMatrix, imuIndex); }
public ForceSensorDataHolder(List<ForceSensorDefinition> forceSensors) { for (ForceSensorDefinition forceSensorDefinition : forceSensors) { ForceSensorData forceSensor = new ForceSensorData(forceSensorDefinition); forceSensorDefinitions.add(forceSensorDefinition); this.forceSensors.put(forceSensorDefinition, forceSensor); sensorNameToDefintionMap.put(forceSensorDefinition.getSensorName(), forceSensorDefinition); } }
public void getIntoControllerModel() { intermediateToControllerCopier.copy(); rawDataIntermediateToControllerCopier.copy(); controllerForceSensorDataHolder.set(intermediateForceSensorDataHolder); controllerCenterOfMassDataHolder.set(intermediateCenterOfMassDataHolder); controllerContactSensorHolder.set(intermediateContactSensorHolder); }
public ForceSensorData(ForceSensorDefinition forceSensorDefinition) { measurementFrame = forceSensorDefinition.getSensorFrame(); measurementLink = forceSensorDefinition.getRigidBody(); }
public void set(ContactSensorHolder otherContactSensorHolder) { for(int i = 0; i < contactSensorDefinitions.size(); i++) { final ContactSensorDefinition contactSensorDefinition = contactSensorDefinitions.get(i); ContactSensor otherContactSensor = otherContactSensorHolder.getByDefinition(contactSensorDefinition); contactSensors.get(contactSensorDefinition).setIsInContact(otherContactSensor.isInContact()); } } }
private long calculateControllerChecksum() { controllerChecksumCalculator.reset(); controllerChecksum.calculate(); controllerForceSensorDataHolder.calculateChecksum(controllerChecksumCalculator); controllerCenterOfMassDataHolder.calculateChecksum(controllerChecksumCalculator); return controllerChecksumCalculator.getValue(); }
@Override public boolean switchFoot() { return !isSwinging(); }
public void setFromEstimatorModel(long timestamp, long estimatorTick, long estimatorClockStartTime) { this.timestamp = timestamp; this.estimatorTick = estimatorTick; this.estimatorClockStartTime = estimatorClockStartTime; checksum = calculateEstimatorChecksum(); estimatorToIntermediateCopier.copy(); rawDataEstimatorToIntermadiateCopier.copy(); intermediateForceSensorDataHolder.set(estimatorForceSensorDataHolder); intermediateCenterOfMassDataHolder.set(estimatorCenterOfMassDataHolder); intermediateContactSensorHolder.set(estimatorContactSensorHolder); }
private long calculateEstimatorChecksum() { estimatorChecksumCalculator.reset(); estimatorChecksum.calculate(); estimatorForceSensorDataHolder.calculateChecksum(estimatorChecksumCalculator); estimatorCenterOfMassDataHolder.calculateChecksum(estimatorChecksumCalculator); return estimatorChecksumCalculator.getValue(); }
public void setFromEstimatorModel(long timestamp, long estimatorTick, long estimatorClockStartTime) { this.timestamp = timestamp; this.estimatorTick = estimatorTick; this.estimatorClockStartTime = estimatorClockStartTime; checksum = calculateEstimatorChecksum(); estimatorToIntermediateCopier.copy(); rawDataEstimatorToIntermadiateCopier.copy(); intermediateForceSensorDataHolder.set(estimatorForceSensorDataHolder); intermediateCenterOfMassDataHolder.set(estimatorCenterOfMassDataHolder); intermediateContactSensorHolder.set(estimatorContactSensorHolder); }
private long calculateControllerChecksum() { controllerChecksumCalculator.reset(); controllerChecksum.calculate(); controllerForceSensorDataHolder.calculateChecksum(controllerChecksumCalculator); controllerCenterOfMassDataHolder.calculateChecksum(controllerChecksumCalculator); return controllerChecksumCalculator.getValue(); }