How to use

getHighLevelHumanoidControllerFactory

method

in

us.ihmc.avatar.factory.AvatarSimulation

public void attachControllerFailureListener(ControllerFailureListener listener)
{
 avatarSimulation.getHighLevelHumanoidControllerFactory().attachControllerFailureListener(listener);
}

  private HighLevelControllerName getCurrentHighLevelState()
  {
   return drcBehaviorTestHelper.getAvatarSimulation().getHighLevelHumanoidControllerFactory().getCurrentHighLevelControlState();
  }
}

public CommonHumanoidReferenceFrames getReferenceFrames()
{
 HighLevelHumanoidControllerFactory momentumBasedControllerFactory = avatarSimulation.getHighLevelHumanoidControllerFactory();
 HighLevelHumanoidControllerToolbox highLevelHumanoidControllerToolbox = momentumBasedControllerFactory.getHighLevelHumanoidControllerToolbox();
 return highLevelHumanoidControllerToolbox.getReferenceFrames();
}

FullHumanoidRobotModel fullRobotModel = drcSimulationTestHelper.getControllerFullRobotModel();
SideDependentList<String> jointNames = getFootJointNames(fullRobotModel);
HighLevelHumanoidControllerToolbox controllerToolbox = drcSimulationTestHelper.getAvatarSimulation().getHighLevelHumanoidControllerFactory()
                                       .getHighLevelHumanoidControllerToolbox();

FullHumanoidRobotModel fullRobotModel = drcSimulationTestHelper.getControllerFullRobotModel();
SideDependentList<String> jointNames = getFootJointNames(fullRobotModel);
HighLevelHumanoidControllerToolbox controllerToolbox = drcSimulationTestHelper.getAvatarSimulation().getHighLevelHumanoidControllerFactory()
                                          .getHighLevelHumanoidControllerToolbox();