private FootstepPlanner getPlanner() { return plannerMap.get(activePlannerEnum.getValue()); }
private WaypointsForFootstepsPlanner getPlanner() { return plannerMap.get(activePlannerEnum.getValue()); }
public void updateInternal() { sendMessageToUI( "Starting To Plan Path, using type " + activePlannerEnum.getValue().toString()); if (debug) PrintTools.info("Planning path."); pathPlanResult = planWaypoints(); if (pathPlanResult.validForExecution()) waypoints.set(getPlanner().getWaypoints()); for (PlannerCompletionCallback completionCallback : completionCallbackList) completionCallback.pathPlanningIsComplete(pathPlanResult, this); }
private void updateInternal() { stageTime.add(Conversions.millisecondsToSeconds(tickDurationMs)); if (stageTime.getDoubleValue() > 20.0) { if (debug) PrintTools.info("Hard timeout at " + stageTime.getDoubleValue()); return; } sendMessageToUI( "Starting To Plan: " + planId.getValue() + " sequence: " + sequenceId.getValue() + ", using type " + activePlannerEnum.getValue().toString() + " on stage " + stageId); if (debug) PrintTools.info("Stage " + stageId + " planning steps."); stepPlanResult = plan(); if (stepPlanResult.validForExecution()) stepPlan.set(getPlanner().getPlan()); for (PlannerCompletionCallback completionCallback : completionCallbackList) completionCallback.stepPlanningIsComplete(stepPlanResult, this); }