contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel);
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines());
ArrayList<RigidBodyTransform> additionalContactTransforms = contactPointParameters.getAdditionalContactTransforms(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++)
RobotContactPointParameters<RobotSide> contactPointParameters = robotModel.getContactPointParameters(); ContactableBodiesFactory<RobotSide> contactableBodiesFactory = new ContactableBodiesFactory<>(); contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel);
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++)
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines());
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); contactableBodiesFactory.setFullRobotModel(fullRobotModel);
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines());
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines());
contactableBodiesFactory.setFootContactPoints(contactPointParameters.getFootContactPoints()); contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines());