How to use

HumanoidJointPoseList

in

us.ihmc.wholeBodyController.diagnostics

 @Override
 public boolean isDone(double timeInState)
 {
   return timeInState > 1.0 && !humanoidJointPoseList.isDone();
 }
}

@Override
public void doTransitionOutOfAction()
{
  humanoidJointPoseList.next();
}

private void initializeDesiredPositions()
 HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList();
 humanoidJointPoseList.createCalibrationPose();
 SideDependentList<ArrayList<OneDoFJoint>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel);
 SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles();
 SideDependentList<ArrayList<OneDoFJoint>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel);
 SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles();
 ArrayList<OneDoFJoint> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel);
 double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();

private void setDesiredPositionsFromPoseList(LinkedHashMap<OneDoFJoint, DoubleYoVariable> positionListToSet)
 SideDependentList<ArrayList<OneDoFJoint>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel);
 SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles();
 SideDependentList<ArrayList<OneDoFJoint>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel);
 SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles();
 ArrayList<OneDoFJoint> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel);
 double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();

DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw);
HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList();
humanoidJointPoseList.createPoseSettersJustLegs();

DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup = new ValkyrieInitialSetup(groundZ, initialYaw);
HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList();
humanoidJointPoseList.createPoseSettersJustArms();

public SideDependentList<ArrayList<OneDoFJoint>> getArmJoints(FullHumanoidRobotModel fullRobotModel)
{
 SideDependentList<ArrayList<OneDoFJoint>> ret = new SideDependentList<ArrayList<OneDoFJoint>>();
 for (RobotSide robotSide : RobotSide.values)
 {
   ArrayList<OneDoFJoint> armJoints = new ArrayList<OneDoFJoint>();
      addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH));
       
   ret.set(robotSide, armJoints);
 }
 return ret;
}

private void setDesiredPositionsFromPoseList(LinkedHashMap<OneDoFJointBasics, YoDouble> positionListToSet)
 SideDependentList<ArrayList<OneDoFJointBasics>> armJointList = humanoidJointPoseList.getArmJoints(fullRobotModel);
 SideDependentList<double[]> armJointAngleList = humanoidJointPoseList.getArmJointAngles();
 SideDependentList<ArrayList<OneDoFJointBasics>> legJointList = humanoidJointPoseList.getLegJoints(fullRobotModel);
 SideDependentList<double[]> legJointAngleList = humanoidJointPoseList.getLegJointAngles();
 ArrayList<OneDoFJointBasics> spineJoints = humanoidJointPoseList.getSpineJoints(fullRobotModel);
 double[] spineJointAngles = humanoidJointPoseList.getSpineJointAngles();

controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState());
HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList();
humanoidJointPoseList.createPoseSettersJustLegs();

public SideDependentList<ArrayList<OneDoFJointBasics>> getArmJoints(FullHumanoidRobotModel fullRobotModel)
{
 SideDependentList<ArrayList<OneDoFJointBasics>> ret = new SideDependentList<ArrayList<OneDoFJointBasics>>();
 for (RobotSide robotSide : RobotSide.values)
 {
   ArrayList<OneDoFJointBasics> armJoints = new ArrayList<OneDoFJointBasics>();
      addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW));
   addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH));
       
   ret.set(robotSide, armJoints);
 }
 return ret;
}

controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState());
HumanoidJointPoseList humanoidJointPoseList = new HumanoidJointPoseList();
humanoidJointPoseList.createPoseSettersJustLegs();

@Override
public void doAction(double timeInState)
{
  if (timeInState > 1.0)
  {
   if (humanoidJointPoseList.isDone())
     finishedDiagnostics.set(true);
  }
}

@Override
public void onExit()
{
  humanoidJointPoseList.next();
}

@Override
public void doAction()
{
  if (stateMachine.timeInCurrentState() > 1.0)
  {
   if (!humanoidJointPoseList.isDone())
     this.transitionToDefaultNextState();
   else
     finishedDiagnostics.set(true);
  }
}