How to use

us.ihmc.commonWalkingControlModules.controllerCore.command.inverseKinematics.InverseKinematicsCommandList

constructor

@Override
protected InverseKinematicsCommandList getAdditionalInverseKinematicsCommands()
{
 InverseKinematicsCommandList commands = new InverseKinematicsCommandList();
 commands.addCommand(createJointLimitReductionCommand());
 return commands;
}

/**
* Class that contains the different lists that are submitted the whole body controller core.
* All desired behaviors to be considered must be submitted to the whole body controller core
* through this command.
* @param controllerCoreMode desired controller core mode. Choose between Inverse Dynamics, Inverse Kinematics, or Virtual Model Control.
*/
public ControllerCoreCommand(WholeBodyControllerCoreMode controllerCoreMode)
{
 this.controllerCoreMode = controllerCoreMode;
 inverseDynamicsCommandList = new InverseDynamicsCommandList();
 virtualModelControlCommandList = new InverseDynamicsCommandList();
 feedbackControlCommandList = new FeedbackControlCommandList();
 inverseKinematicsCommandList = new InverseKinematicsCommandList();
 lowLevelOneDoFJointDesiredDataHolder = new LowLevelOneDoFJointDesiredDataHolder();
}

private InverseKinematicsCommandList computeInverseKinematicsCommands()
 InverseKinematicsCommandList ret = new InverseKinematicsCommandList();

private InverseKinematicsCommandList computeInverseKinematicsCommands()
 InverseKinematicsCommandList ret = new InverseKinematicsCommandList();