private CapturePointUpdatable createCapturePointUpdateable(YoGraphicsListRegistry yoGraphicsListRegistry) { CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber = new CapturabilityBasedStatusSubscriber(); ROS2Tools.createCallbackSubscription(ros2Node, CapturabilityBasedStatus.class, ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName), s -> capturabilityBasedStatusSubsrciber.receivedPacket(s.takeNextData())); CapturePointUpdatable ret = new CapturePointUpdatable(capturabilityBasedStatusSubsrciber, yoGraphicsListRegistry, registry); return ret; }
@Override public void update(double time) FramePoint2D capturePoint = capturabilityBasedStatusSubsrciber.getCapturePoint(); if (capturePoint != null) FramePoint2D desiredCapturePoint = capturabilityBasedStatusSubsrciber.getDesiredCapturePoint(); if (desiredCapturePoint != null) FrameConvexPolygon2D footSupportPolygon = capturabilityBasedStatusSubsrciber.getFootSupportPolygon(robotSide); if (footSupportPolygon != null) Boolean isInDoubleSupport = capturabilityBasedStatusSubsrciber.isInDoubleSupport(); if (isInDoubleSupport != null)
private CapturePointUpdatable createCapturePointUpdateable(DRCSimulationTestHelper testHelper, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry) { CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber = new CapturabilityBasedStatusSubscriber(); testHelper.createSubscriberFromController(CapturabilityBasedStatus.class, capturabilityBasedStatusSubsrciber::receivedPacket); CapturePointUpdatable ret = new CapturePointUpdatable(capturabilityBasedStatusSubsrciber, yoGraphicsListRegistry, registry); return ret; }
@Override public void update(double time) FramePoint2d capturePoint = capturabilityBasedStatusSubsrciber.getCapturePoint(); if (capturePoint != null) FramePoint2d desiredCapturePoint = capturabilityBasedStatusSubsrciber.getDesiredCapturePoint(); if (desiredCapturePoint != null) FrameConvexPolygon2d footSupportPolygon = capturabilityBasedStatusSubsrciber.getFootSupportPolygon(robotSide); if (footSupportPolygon != null) Boolean isInDoubleSupport = capturabilityBasedStatusSubsrciber.isInDoubleSupport(); if (isInDoubleSupport != null)
yoGraphicsListRegistry); CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber = new CapturabilityBasedStatusSubscriber(); behaviorPacketCommunicator.attachListener(CapturabilityBasedStatus.class, capturabilityBasedStatusSubsrciber);
yoGraphicsListRegistry); CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber = new CapturabilityBasedStatusSubscriber(); ROS2Tools.createCallbackSubscription(ros2Node, CapturabilityBasedStatus.class, controllerPubGenerator, s -> capturabilityBasedStatusSubsrciber.receivedPacket(s.takeNextData()));