public void applyForceDelayed(StateTransitionCondition pushCondition, double timeDelay, Vector3DReadOnly direction, double magnitude, double duration) { this.pushCondition = pushCondition; setPushDuration(duration); setPushForceDirection(direction); setPushForceMagnitude(magnitude); setPushDelay(timeDelay); applyForce(); }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
private OscillateFeetPerturber generateFeetPertuber(final SimulationConstructionSet simulationConstructionSet, HumanoidFloatingRootJointRobot robot, int ticksPerPerturbation) { OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation)); oscillateFeetPerturber.setTranslationMagnitude(new double[] { 0.008, 0.012, 0.005 }); oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] { 0.010, 0.06, 0.010 }); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] { 1.0, 2.5, 3.3 }); oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] { 2.0, 0.5, 1.3 }); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] { 5.0, 0.5, 0.3 }); oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] { 0.2, 3.4, 1.11 }); return oscillateFeetPerturber; }
public void applyForce(Vector3DReadOnly direction, double magnitude, double duration) { applyForceDelayed(null, 0.0, direction, magnitude, duration); }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); }
@Override public void initialize() { PrintTools.debug(this, "CutforceSimulator initialized"); doControl(); }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
public void applyForceDelayed(StateTransitionCondition pushCondition, double timeDelay, Vector3d direction, double magnitude, double duration) { this.pushCondition = pushCondition; setPushDuration(duration); setPushForceDirection(direction); setPushForceMagnitude(magnitude); setPushDelay(timeDelay); applyForce(); }
public void applyForce(Vector3d direction, double magnitude, double duration) { applyForceDelayed(null, 0.0, direction, magnitude, duration); }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); } }
@Override public String getDescription() { return getName(); }
@Override public void initialize() { PrintTools.debug(this, "CutforceSimulator initialized"); doControl(); }