public void copyFromController() { controllerDataHolder.updateFromModel(); for(int i = 0; i < controllerDataHolder.getJoints().length; i++) { intermediateDesiredJointData[i].set(controllerDataHolder.get(i)); } }
@Override public void publishControllerData() { controllerDesiredJointDataHolder.updateFromModel(); }
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions())); estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder(); estimatorDesiredJointDataHolder = new DesiredJointDataHolder(estimatorFullRobotModel.getOneDoFJoints());
public IntermediateDesiredJointDataHolder(DesiredJointDataHolder estimatorDataHolder, DesiredJointDataHolder controllerDataHolder) { this.estimatorDataHolder = estimatorDataHolder; this.controllerDataHolder = controllerDataHolder; for(int i = 0; i < estimatorDataHolder.getJoints().length; i++) { if(estimatorDataHolder.getJoints()[i].getName() != controllerDataHolder.getJoints()[i].getName()) { throw new RuntimeException("Models do not match"); } } intermediateDesiredJointData = new DesiredJointData[estimatorDataHolder.getJoints().length]; for(int i = 0; i < estimatorDataHolder.getJoints().length; i++) { intermediateDesiredJointData[i] = new DesiredJointData(); } }
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions())); estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder(); estimatorDesiredJointDataHolder = new DesiredJointDataHolder(estimatorFullRobotModel.getOneDoFJoints()); controllerRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(controllerFullRobotModel); controllerRobotMotionStatusHolder = new RobotMotionStatusHolder(); controllerDesiredJointDataHolder = new DesiredJointDataHolder(controllerFullRobotModel.getOneDoFJoints());