Tabnine Logo
FootSpoof
Code IndexAdd Tabnine to your IDE (free)

How to use
FootSpoof
in
us.ihmc.humanoidRobotics.footstep

Best Java code snippets using us.ihmc.humanoidRobotics.footstep.FootSpoof (Showing top 20 results out of 315)

  • Add the Codota plugin to your IDE and get smart completions
private void myMethod () {
List l =
  • Codota Iconnew ArrayList()
  • Codota Iconnew LinkedList()
  • Smart code suggestions by Tabnine
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

@Before
public void setUp()
{
 parentRegistry = new YoVariableRegistry("parentRegistryTEST");
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   double xToAnkle = 0.0;
   double yToAnkle = 0.0;
   double zToAnkle = 0.0;
   List<Point2D> contactPointsInSoleFrame = new ArrayList<>();
   contactPointsInSoleFrame.add(new Point2D(footLengthForControl / 2.0, toeWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(footLengthForControl / 2.0, -toeWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, -footWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, footWidthForControl / 2.0));
   FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
   FramePose3D startingPose = new FramePose3D();
   startingPose.setToZero(worldFrame);
   startingPose.setY(robotSide.negateIfRightSide(0.20));
   contactableFoot.setSoleFrame(startingPose);
   contactableFeet.put(robotSide, contactableFoot);
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, parentRegistry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private SideDependentList<FootSpoof> setupContactableFeet(double footLength, double footWidth, double totalWidth)
{
 SideDependentList<FootSpoof> contactableFeet = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   double xToAnkle = 0.0;
   double yToAnkle = 0.0;
   double zToAnkle = 0.084;
   List<Point2D> contactPointsInSoleFrame = new ArrayList<>();
   contactPointsInSoleFrame.add(new Point2D(footLength / 2.0, footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(footLength / 2.0, -footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLength / 2.0, -footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLength / 2.0, footWidth / 2.0));
   FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
   FramePose3D startingPose = footPosesAtTouchdown.get(robotSide);
   startingPose.setToZero(worldFrame);
   startingPose.setY(robotSide.negateIfRightSide(0.5 * (totalWidth - footWidth)));
   contactableFoot.setSoleFrame(startingPose);
   contactableFeet.put(robotSide, contactableFoot);
 }
 return contactableFeet;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

FootSpoof foot = new FootSpoof(testName + side.getCamelCaseName() + "Foot", 0.0, 0.0, 0.084, contactPoints, 0.1);
getFootLocationFromCoMLocation(tempFramePoint1, side, currentLocation, walkingDirectionUnitVector, stepLength, stepWidth);
foot.setPose(tempFramePoint1, robotOrientation);
contactableFeet.put(side, foot);
soleFrames.put(side, foot.getSoleFrame());
ankleFrames.put(side, foot.getFrameAfterParentJoint());
YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(side.getCamelCaseName(), foot.getRigidBody(), foot.getSoleFrame(),
                                 foot.getContactPoints2d(), foot.getCoefficientOfFriction(), testRegistry);
yoPlaneContactState.setFullyConstrained();
contactStates.put(side, yoPlaneContactState);
origin: us.ihmc/ihmc-simulation-toolkit-test

public void testFootstepAndPointsFromDataFile() throws NumberFormatException, InsufficientDataException, IOException
{
 QuadTreeFootstepSnappingParameters snappingParameters = new AtlasFootstepSnappingParameters();
 ConvexHullFootstepSnapper footstepSnapper = new ConvexHullFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters);
 double maskSafetyBuffer = 0.01;
 double boundingBoxDimension = 0.3;
 footstepSnapper.setUseMask(true, maskSafetyBuffer, boundingBoxDimension);
 String baseName = "footstepListsForTesting/";
 String resourceName = baseName + "DataFromConvexHullSnapper1422988400956.txt";
 InputStream resourceAsStream = getClass().getClassLoader().getResourceAsStream(resourceName);
 FootstepPointsDataReader dataReader = new FootstepPointsDataReader(resourceAsStream);
 FootstepDataMessage footstepData = new FootstepDataMessage();
 footstepData.setRobotSide(RobotSide.LEFT.toByte());
 FootSpoof spoof = new FootSpoof("basicSpoof");
 FramePose2D desiredPose = new FramePose2D(ReferenceFrame.getWorldFrame());
 List<Point3D> listOfPoints = new ArrayList<>();
 while (dataReader.hasAnotherFootstepAndPoints())
 {
   listOfPoints = dataReader.getNextSetPointsAndFootstep(footstepData);
   desiredPose.setIncludingFrame(ReferenceFrame.getWorldFrame(), footstepData.getLocation().getX(), footstepData.getLocation().getY(),
                    footstepData.getOrientation().getYaw());
   Footstep footstep = footstepSnapper.generateFootstepUsingHeightMap(desiredPose, spoof.getRigidBody(), spoof.getSoleFrame(),
              RobotSide.fromByte(footstepData.getRobotSide()), listOfPoints, 0.0);
   assertTrue(footstep.getFootstepType() != Footstep.FootstepType.BAD_FOOTSTEP);
 }
}
origin: us.ihmc/ihmc-simulation-toolkit-test

private SideDependentList<Footstep> updatedStartFeet(double startX, double startY, double startYaw)
{
 double leftXFactor = initialDeltaFeetLocalX / 2 * Math.cos(startYaw) - initialDeltaFeetLocalY / 2 * Math.sin(startYaw);
 double leftYFactor = initialDeltaFeetLocalX / 2 * Math.sin(startYaw) + initialDeltaFeetLocalY / 2 * Math.cos(startYaw);
 QuadTreeFootstepSnapper footstepSnapper = new SimpleFootstepSnapper();
 Point2D leftFootStartPoint = new Point2D(startX + leftXFactor, startY + leftYFactor);
 FramePose2D leftFootPose2d = new FramePose2D(WORLD_FRAME, leftFootStartPoint, startYaw + initialDeltaFeetYaw / 2);
 Point2D rightFootStartPoint = new Point2D(startX - leftXFactor, startY - leftYFactor);
 FramePose2D rightFootPose2d = new FramePose2D(WORLD_FRAME, rightFootStartPoint, startYaw - initialDeltaFeetYaw / 2);
 FramePoint3D leftPosition = new FramePoint3D(WORLD_FRAME, leftFootStartPoint.getX(), leftFootStartPoint.getY(), 0);
 FramePoint3D rightPosition = new FramePoint3D(WORLD_FRAME, rightFootStartPoint.getX(), rightFootStartPoint.getY(), 0);
 FrameQuaternion leftOrientation = new FrameQuaternion(WORLD_FRAME, leftFootPose2d.getYaw(), 0.0, 0.0);
 FrameQuaternion rightOrientation = new FrameQuaternion(WORLD_FRAME, rightFootPose2d.getYaw(), 0.0, 0.0);
 leftContactableFoot.setSoleFrame(leftPosition, leftOrientation);
 rightContactableFoot.setSoleFrame(rightPosition, rightOrientation);
 Footstep leftStart = footstepSnapper.generateFootstepWithoutHeightMap(leftFootPose2d, feet.get(RobotSide.LEFT), contactableFeet.get(RobotSide.LEFT).getSoleFrame(),
    RobotSide.LEFT, GROUND_HEIGHT, PLANE_NORMAL);
 Footstep rightStart = footstepSnapper.generateFootstepWithoutHeightMap(rightFootPose2d, feet.get(RobotSide.RIGHT), contactableFeet.get(RobotSide.RIGHT).getSoleFrame(),
    RobotSide.RIGHT, GROUND_HEIGHT, PLANE_NORMAL);
 SideDependentList<Footstep> startFeet = new SideDependentList<Footstep>(leftStart, rightStart);
 return startFeet;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private void setupConsistencyChecks()
{
 newTestStartConsistency = true;
 copWaypointsFromPreviousPlan = new ArrayList<>();
 CoPPointsInFoot copPointsInFoot = new CoPPointsInFoot(testClassName, 0, new ReferenceFrame[] {worldFrame, feet.get(RobotSide.LEFT).getSoleFrame(),
    feet.get(RobotSide.RIGHT).getSoleFrame()}, registry);
 copWaypointsFromPreviousPlan.add(copPointsInFoot);
 icpCornerPointsFromPreviousPlan = new RecyclingArrayList<>(FramePoint3D::new);
 comCornerPointsFromPreviousPlan = new RecyclingArrayList<>(FramePoint3D::new);
 for (int i = 0; i < numberOfFootstepsToTestForConsistency; i++)
 {
   copPointsInFoot = new CoPPointsInFoot(testClassName, i + 1, new ReferenceFrame[] {worldFrame, feet.get(RobotSide.LEFT).getSoleFrame(),
      feet.get(RobotSide.RIGHT).getSoleFrame()}, registry);
   copWaypointsFromPreviousPlan.add(copPointsInFoot);
 }
}
origin: us.ihmc/ihmc-humanoid-robotics

public void setSoleFrame(FramePoint3D position, FrameQuaternion orientation)
{
 position.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 orientation.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 setSoleFrame(new FramePose3D(position, orientation));
}
origin: us.ihmc/ihmc-simulation-toolkit-test

private void testAPoint(boolean assertPositionConditions, boolean assertPointConditions) throws InsufficientDataException
{
  FootSpoof footSpoof = new FootSpoof("footSpoof");
  testAPoint(assertPositionConditions, assertPointConditions, footSpoof);
}
origin: us.ihmc/ihmc-simulation-toolkit-test

private void assertFootstepsValid(String testDescription, Visualization visualize, Point2D startWorldPoint, double startWorldYaw, Point2D endWorldPoint,
   SideDependentList<Footstep> startFeet, ArrayList<Footstep> footsteps)
{
 showFootstepsIfVisualize(testDescription, footsteps, startFeet, visualize);
 double semiCircleOffset = 0.0;
 double validSideOffset = 2 * footSide;
 double radianFootTwistLimit = 1.1 * Math.max(Math.abs(pathType.getTurningCloseStepAngle()), Math.abs(pathType.getTurningOpenStepAngle()));
 double footReachLimitMeters = 1.1 * (pathType.getStepLength() + Math.max(pathType.getStepWidth(), pathType.getTurningStepWidth()));
 FootstepValidityMetric footstepValidityMetric = new SemiCircularStepValidityMetric(leftContactableFoot.getRigidBody(), semiCircleOffset,
    radianFootTwistLimit, footReachLimitMeters, validSideOffset);
 assertAllStepsLevelAndZeroHeight(testDescription, footsteps, zToAnkle);
 assertAllStepsValid(testDescription, footsteps, startFeet, footstepValidityMetric);
 assertNoRepeatedSquareUpSteps(testDescription + " Shouldn't restep at end", footsteps);
 assertNoInitialRepeatedSteps(testDescription, footsteps, startFeet);
 assertLastTwoStepsCenterAroundEndPoint(testDescription, footsteps, endWorldPoint);
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private SideDependentList<FootSpoof> setupContactableFeet(double footLength, double footWidth, double totalWidth)
{
 SideDependentList<FootSpoof> contactableFeet = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   double xToAnkle = 0.0;
   double yToAnkle = 0.0;
   double zToAnkle = 0.084;
   List<Point2D> contactPointsInSoleFrame = new ArrayList<>();
   contactPointsInSoleFrame.add(new Point2D(footLength / 2.0, footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(footLength / 2.0, -footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLength / 2.0, -footWidth / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLength / 2.0, footWidth / 2.0));
   FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
   FramePose3D startingPose = footPosesAtTouchdown.get(robotSide);
   startingPose.setToZero(worldFrame);
   startingPose.setY(robotSide.negateIfRightSide(0.5 * (totalWidth - footWidth)));
   contactableFoot.setSoleFrame(startingPose);
   contactableFeet.put(robotSide, contactableFoot);
 }
 return contactableFeet;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testAddAndSetIncludingFrameWithFramePoint()
{
 FramePoint3D testLocation = new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random());
 assertTrue(copPointsInFoot.isEmpty());
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.2, testLocation);
 assertEquals(1, copPointsInFoot.getCoPPointList().size());
 testLocation.changeFrame(worldFrame);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation, copPointsInFoot.get(0).getPosition(), epsilon);
 assertEquals(0.2, copPointsInFoot.get(0).getTime(), epsilon);
}
origin: us.ihmc/IHMCHumanoidRobotics

public void setSoleFrame(FramePoint position, FrameOrientation orientation)
{
 position.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 orientation.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 setSoleFrame(new FramePose(ReferenceFrame.getWorldFrame(), position.getPoint(), orientation.getQuaternionCopy()));
}
origin: us.ihmc/ihmc-simulation-toolkit

double footHalfWidth = 0.05;
double coefficientOfFriction = 0.0;
ContactablePlaneBody leftContactableFoot = new FootSpoof("leftFoot", xToAnkle, yToAnkle, zToAnkle, footForward, footBack, footHalfWidth,
                       coefficientOfFriction);
ContactablePlaneBody rightContactableFoot = new FootSpoof("rightFoot", xToAnkle, yToAnkle, zToAnkle, footForward, footBack, footHalfWidth,
                        coefficientOfFriction);
origin: us.ihmc/ihmc-common-walking-control-modules-test

contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, -footWidthForControl / 2.0));
contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, footWidthForControl / 2.0));
FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
FramePose3D startingPose = new FramePose3D();
startingPose.setToZero(worldFrame);
startingPose.setY(robotSide.negateIfRightSide(0.20));
contactableFoot.setSoleFrame(startingPose);
contactableFeet.put(robotSide, contactableFoot);
RigidBodyBasics foot = contactableFoot.getRigidBody();
ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, parentRegistry);
yoPlaneContactState.setFullyConstrained();
origin: us.ihmc/ihmc-common-walking-control-modules-test

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testAddAndSetIncludingFrameWithCoPTrajectoryPoint()
{
 CoPTrajectoryPoint testLocation1 = new CoPTrajectoryPoint("TestLocation1", "", null, framesToRegister);
 CoPTrajectoryPoint testLocation2 = new CoPTrajectoryPoint("TestLocation2", "", null, framesToRegister);
 testLocation1.changeFrame(footSpoof.getSoleFrame());
 testLocation1.setPosition(new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random()));
 testLocation2.changeFrame(footSpoof.getSoleFrame());
 testLocation2.setPosition(new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random()));
 copPointsInFoot.addWaypoint(CoPPointName.ENTRY_COP, 0.87, testLocation1);
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.12, testLocation2);
 assertEquals(2, copPointsInFoot.getCoPPointList().size());
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation1.getPosition(), copPointsInFoot.get(0).getPosition(), epsilon);
 assertEquals(0.87, copPointsInFoot.get(0).getTime(), epsilon);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation2.getPosition(), copPointsInFoot.get(1).getPosition(), epsilon);
 assertEquals(0.12, copPointsInFoot.get(1).getTime(), epsilon);
 FramePoint3D tempFramePointForTesting = new FramePoint3D(footSpoof.getSoleFrame());
 copPointsInFoot.getFinalCoPPosition(tempFramePointForTesting);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation2.getPosition(), tempFramePointForTesting, epsilon);
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private void updateContactState(int currentStepCount, double percentageOfPhase)
{
 if (inDoubleSupport.getBooleanValue())
 {
   for (RobotSide side : RobotSide.values)
    contactStates.get(side).setFullyConstrained();
 }
 else
 {
   RobotSide swingSide = footstepList.get(currentStepCount).getRobotSide();
   contactStates.get(swingSide).clear();
   contactStates.get(swingSide.getOppositeSide()).setFullyConstrained();
   if (currentStepCount > 0)
   {
    swingFootPose.set(footstepList.get(currentStepCount - 1).getFootstepPose());
   }
   else
   {
    swingFootPose.set(initialPose);
    swingFootPose.appendTranslation(0.0, swingSide.negateIfRightSide(stepWidth / 2.0), 0.0);
   }
   FramePose3D endOfSwing = footstepList.get(currentStepCount).getFootstepPose();
   swingFootPose.interpolate(endOfSwing, percentageOfPhase);
   FootSpoof foot = feet.get(swingSide);
   foot.setSoleFrame(swingFootPose);
 }
 bipedSupportPolygons.updateUsingContactStates(contactStates);
}
origin: us.ihmc/IHMCSimulationToolkit

double footHalfWidth = 0.05;
double coefficientOfFriction = 0.0;
ContactablePlaneBody leftContactableFoot = new FootSpoof("leftFoot", xToAnkle, yToAnkle, zToAnkle, footForward, footBack, footHalfWidth,
                       coefficientOfFriction);
ContactablePlaneBody rightContactableFoot = new FootSpoof("rightFoot", xToAnkle, yToAnkle, zToAnkle, footForward, footBack, footHalfWidth,
                        coefficientOfFriction);
origin: us.ihmc/ihmc-common-walking-control-modules-test

contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, -footWidthForControl / 2.0));
contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, footWidthForControl / 2.0));
FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
startingPose.setY(robotSide.negateIfRightSide(0.15));
contactableFoot.setSoleFrame(startingPose);
contactableFeet.put(robotSide, contactableFoot);
RigidBodyBasics foot = contactableFoot.getRigidBody();
ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction,
   registry);
ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
ankleFrames.put(robotSide, ankleFrame);
ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
soleFrames.put(robotSide, contactableFoot.getSoleFrame());
us.ihmc.humanoidRobotics.footstepFootSpoof

Javadoc

USE ONLY FOR TEST!

Most used methods

  • <init>
  • setSoleFrame
  • getRigidBody
  • getSoleFrame
  • getCoefficientOfFriction
  • getContactPoints2d
  • getFrameAfterParentJoint
  • setPose

Popular in Java

  • Making http post requests using okhttp
  • getResourceAsStream (ClassLoader)
  • findViewById (Activity)
  • onCreateOptionsMenu (Activity)
  • Table (com.google.common.collect)
    A collection that associates an ordered pair of keys, called a row key and a column key, with a sing
  • Font (java.awt)
    The Font class represents fonts, which are used to render text in a visible way. A font provides the
  • BufferedInputStream (java.io)
    A BufferedInputStream adds functionality to another input stream-namely, the ability to buffer the i
  • IOException (java.io)
    Signals a general, I/O-related error. Error details may be specified when calling the constructor, a
  • BlockingQueue (java.util.concurrent)
    A java.util.Queue that additionally supports operations that wait for the queue to become non-empty
  • ImageIO (javax.imageio)
  • PhpStorm for WordPress
Tabnine Logo
  • Products

    Search for Java codeSearch for JavaScript code
  • IDE Plugins

    IntelliJ IDEAWebStormVisual StudioAndroid StudioEclipseVisual Studio CodePyCharmSublime TextPhpStormVimAtomGoLandRubyMineEmacsJupyter NotebookJupyter LabRiderDataGripAppCode
  • Company

    About UsContact UsCareers
  • Resources

    FAQBlogTabnine AcademyStudentsTerms of usePrivacy policyJava Code IndexJavascript Code Index
Get Tabnine for your IDE now