How to use

getFootstepPlannerParameters

method

in

us.ihmc.avatar.drcRobot.DRCRobotModel

@Override
public void start(Stage primaryStage) throws Exception
{
 DRCRobotModel drcRobotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, false);
 messager = new SharedMemoryJavaFXMessager(FootstepPlannerMessagerAPI.API);
 messageConverter = RemoteUIMessageConverter.createConverter(messager, drcRobotModel.getSimpleRobotName(), DomainFactory.PubSubImplementation.FAST_RTPS);
 messager.startMessager();
 ui = FootstepPlannerUI.createMessagerUI(primaryStage, messager, drcRobotModel.getFootstepPlannerParameters(), drcRobotModel.getVisibilityGraphsParameters());
 ui.show();
}

public FootstepPlanningToolboxModule(DRCRobotModel drcRobotModel, LogModelProvider modelProvider, boolean startYoVariableServer,
                  DomainFactory.PubSubImplementation pubSubImplementation) throws IOException
{
 super(drcRobotModel.getSimpleRobotName(), drcRobotModel.createFullRobotModel(), modelProvider, startYoVariableServer, pubSubImplementation);
 setTimeWithoutInputsBeforeGoingToSleep(Double.POSITIVE_INFINITY);
 footstepPlanningToolboxController = new FootstepPlanningToolboxController(drcRobotModel.getContactPointParameters(),
                                      drcRobotModel.getFootstepPlannerParameters(),
                                      drcRobotModel.getVisibilityGraphsParameters(), statusOutputManager, registry,
                                      yoGraphicsListRegistry,
                                      Conversions.millisecondsToSeconds(DEFAULT_UPDATE_PERIOD_MILLISECONDS));
 footstepPlanningToolboxController.setTextToSpeechPublisher(textToSpeechPublisher);
 startYoVariableServer();
}

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = timeout)
public void testWalkingBetweenBollardsAStarPlanner()
{
 DRCStartingLocation startingLocation = () -> new OffsetAndYawRobotInitialSetup(-1.5, 0.0, 0.007, 0.0);
 FramePose3D goalPose = new FramePose3D();
 goalPose.setX(1.5);
 setupSimulation(bollardPlanarRegions, startingLocation);
 CollisionCheckerScript collisionChecker = getCollisionChecker(500);
 drcSimulationTestHelper.createSimulation("FootstepPlannerEndToEndTest");
 drcSimulationTestHelper.getSimulationConstructionSet().addScript(collisionChecker);
 FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters();
 FootstepPlannerParametersPacket parametersPacket = new FootstepPlannerParametersPacket();
 RemoteUIMessageConverter.copyFootstepPlannerParametersToPacket(parametersPacket, parameters);
 parametersPacket.setCheckForBodyBoxCollisions(true);
 parametersPacket.setReturnBestEffortPlan(false);
 footstepPlannerParametersPublisher.publish(parametersPacket);
 runEndToEndTestAndKeepSCSUpIfRequested(FootstepPlannerType.A_STAR, bollardPlanarRegions, goalPose);
}

drcRobotModel.getFootstepPlannerParameters(),
drcRobotModel.getVisibilityGraphsParameters(), commandInputManager,
statusOutputManager, executorService, registry, yoGraphicsListRegistry,

FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters();

FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters();