How to use

RobotMotionStatusHolder

in

us.ihmc.sensorProcessing.model

public void writeControllerDataFromController()
{
 for (int i = 0; i < controllerFeet.size(); i++)
 {
   RigidBody foot = controllerFeet.get(i);
   controllerCenterOfPressureDataHolder.getCenterOfPressureByName(centerOfPressure.get(foot.getName()), foot);
 }
 robotMotionStatus.set(controllerRobotMotionStatusHolder.getCurrentRobotMotionStatus());
 intermediateDesiredJointDataHolder.copyFromController();
}

  @Override
  public void robotMotionStatusHasChanged(RobotMotionStatus newStatus, double time)
  {
   controllerRobotMotionStatusHolder.setCurrentRobotMotionStatus(newStatus);
  }
};

   imuSensorsToUseInStateEstimator, gravitationalAcceleration, footSwitchMap, centerOfPressureDataHolder, new RobotMotionStatusHolder(), bipedFeetMap, yoGraphicsListRegistry);
return stateEstimator;

estimatorRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(estimatorFullRobotModel);
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions()));
estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder();
estimatorDesiredJointDataHolder = new JointDesiredOutputList(estimatorFullRobotModel.getControllableOneDoFJoints());

estimatorRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(estimatorFullRobotModel);
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions()));
estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder();
estimatorDesiredJointDataHolder = new DesiredJointDataHolder(estimatorFullRobotModel.getOneDoFJoints());

public void writeControllerDataFromController()
{
 for (int i = 0; i < controllerFeet.size(); i++)
 {
   RigidBodyBasics foot = controllerFeet.get(i);
   controllerCenterOfPressureDataHolder.getCenterOfPressureByName(centerOfPressure.get(foot.getName()), foot);
 }
 robotMotionStatus.set(controllerRobotMotionStatusHolder.getCurrentRobotMotionStatus());
 intermediateDesiredJointDataHolder.copyFromController();
}

  @Override
  public void robotMotionStatusHasChanged(RobotMotionStatus newStatus, double time)
  {
   controllerRobotMotionStatusHolder.setCurrentRobotMotionStatus(newStatus);
  }
};

estimatorRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(estimatorFullRobotModel);
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions()));
estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder();
estimatorDesiredJointDataHolder = new JointDesiredOutputList(estimatorFullRobotModel.getControllableOneDoFJoints());
controllerContactSensorHolder = new ContactSensorHolder(Arrays.asList(controllerFullRobotModel.getContactSensorDefinitions()));
controllerRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(controllerFullRobotModel);
controllerRobotMotionStatusHolder = new RobotMotionStatusHolder();
controllerDesiredJointDataHolder = new JointDesiredOutputList(controllerFullRobotModel.getControllableOneDoFJoints());

state.setRobotMotionStatus(robotMotionStatusFromController.getCurrentRobotMotionStatus());

public void readControllerDataIntoEstimator()
{
 for (int i = 0; i < estimatorFeet.size(); i++)
 {
   RigidBody foot = estimatorFeet.get(i);
   estimatorCenterOfPressureDataHolder.setCenterOfPressure(centerOfPressure.get(foot.getName()), foot);
 }
 if (robotMotionStatus.get() != null)
   estimatorRobotMotionStatusHolder.setCurrentRobotMotionStatus(robotMotionStatus.getAndSet(null));
 
 intermediateDesiredJointDataHolder.readIntoEstimator();
}

estimatorRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(estimatorFullRobotModel);
estimatorContactSensorHolder = new ContactSensorHolder(Arrays.asList(estimatorFullRobotModel.getContactSensorDefinitions()));
estimatorRobotMotionStatusHolder = new RobotMotionStatusHolder();
estimatorDesiredJointDataHolder = new DesiredJointDataHolder(estimatorFullRobotModel.getOneDoFJoints());
controllerContactSensorHolder = new ContactSensorHolder(Arrays.asList(controllerFullRobotModel.getContactSensorDefinitions()));
controllerRawJointSensorDataHolderMap = new RawJointSensorDataHolderMap(controllerFullRobotModel);
controllerRobotMotionStatusHolder = new RobotMotionStatusHolder();
controllerDesiredJointDataHolder = new DesiredJointDataHolder(controllerFullRobotModel.getOneDoFJoints());

public void readControllerDataIntoEstimator()
{
 for (int i = 0; i < estimatorFeet.size(); i++)
 {
   RigidBodyBasics foot = estimatorFeet.get(i);
   estimatorCenterOfPressureDataHolder.setCenterOfPressure(centerOfPressure.get(foot.getName()), foot);
 }
 if (robotMotionStatus.get() != null)
   estimatorRobotMotionStatusHolder.setCurrentRobotMotionStatus(robotMotionStatus.getAndSet(null));
 
 intermediateDesiredJointDataHolder.readIntoEstimator();
}

sensorOutputMapReadOnly, centerOfMassDataHolderToUpdate,
imuSensorsToUseInStateEstimator, gravityMagnitude, footSwitchMap, null,
new RobotMotionStatusHolder(), bipedFeetMap, yoGraphicsListRegistry);

   imuSensorsToUseInStateEstimator, gravitationalAcceleration, footSwitchMap, null, new RobotMotionStatusHolder(),
   bipedFeetMap, null);
simulationRegistry.addChild(stateEstimator.getYoVariableRegistry());

   imuSensorsToUseInStateEstimator, gravitationalAcceleration, footSwitchMap, null, new RobotMotionStatusHolder(),
   bipedFeetMap, null);
simulationRegistry.addChild(stateEstimator.getYoVariableRegistry());

                           footSwitchMap, null, new RobotMotionStatusHolder(), bipedFeetMap, null);
simulationRegistry.addChild(stateEstimator.getYoVariableRegistry());

SensorOutputMapReadOnly sensorOutputMapReadOnly = initializeSensorOutputMapReadOnly();
SensorRawOutputMapReadOnly sensorRawOutputMapReadOnly = initializeSensorRawOutputMapReadOnly();
RobotMotionStatusHolder robotMotionStatusFromController = new RobotMotionStatusHolder();
DRCRobotSensorInformation sensorInformation = drcRobotModel.getSensorInformation();
PeriodicNonRealtimeThreadScheduler scheduler = new PeriodicNonRealtimeThreadScheduler(threadName);

SensorOutputMapReadOnly sensorOutputMapReadOnly = initializeSensorOutputMapReadOnly();
SensorRawOutputMapReadOnly sensorRawOutputMapReadOnly = initializeSensorRawOutputMapReadOnly();
RobotMotionStatusHolder robotMotionStatusFromController = new RobotMotionStatusHolder();
DRCRobotSensorInformation sensorInformation = drcRobotModel.getSensorInformation();
MessageTopicNameGenerator publisherTopicNameGenerator = ControllerAPIDefinition.getPublisherTopicNameGenerator(drcRobotModel.getSimpleRobotName());