private void makeLegJointHelper(RobotSide robotSide, double torqueOffsetSign, boolean preserveY, LegJointName legJointName) { OneDoFJointBasics legJoint = fullRobotModel.getLegJoint(robotSide, legJointName); helpers.put(legJoint, new DiagnosticsWhenHangingHelper(legJoint, preserveY, registry)); torqueOffsetSigns.put(legJoint, torqueOffsetSign); }
private void makeLegJointHelper(RobotSide robotSide, boolean preserveY, LegJointName legJointName) { OneDoFJointBasics legJoint = fullRobotModel.getLegJoint(robotSide, legJointName); helpers.put(legJoint, new DiagnosticsWhenHangingHelper(legJoint, preserveY, registry)); }
private void makeArmJointHelper(RobotSide robotSide, boolean preserveY, ArmJointName armJointName) { OneDoFJointBasics armJoint = fullRobotModel.getArmJoint(robotSide, armJointName); helpers.put(armJoint, new DiagnosticsWhenHangingHelper(armJoint, preserveY, registry)); }
private void makeLegJointHelper(RobotSide robotSide, boolean preserveY, LegJointName legJointName) { OneDoFJoint legJoint = fullRobotModel.getLegJoint(robotSide, legJointName); helpers.put(legJoint, new DiagnosticsWhenHangingHelper(legJoint, preserveY, registry)); }
private void makeArmJointHelper(RobotSide robotSide, boolean preserveY, ArmJointName armJointName) { OneDoFJointBasics armJoint = fullRobotModel.getArmJoint(robotSide, armJointName); helpers.put(armJoint, new DiagnosticsWhenHangingHelper(armJoint, preserveY, registry)); }
private void makeArmJointHelper(RobotSide robotSide, double torqueOffsetSign, boolean preserveY, ArmJointName armJointName) { OneDoFJointBasics armJoint = fullRobotModel.getArmJoint(robotSide, armJointName); helpers.put(armJoint, new DiagnosticsWhenHangingHelper(armJoint, preserveY, registry)); torqueOffsetSigns.put(armJoint, torqueOffsetSign); }
private void makeLegJointHelper(RobotSide robotSide, double torqueOffsetSign, boolean preserveY, LegJointName legJointName) { OneDoFJoint legJoint = fullRobotModel.getLegJoint(robotSide, legJointName); helpers.put(legJoint, new DiagnosticsWhenHangingHelper(legJoint, preserveY, registry)); torqueOffsetSigns.put(legJoint, torqueOffsetSign); }
private void makeLegJointHelper(RobotSide robotSide, boolean preserveY, LegJointName legJointName) { OneDoFJointBasics legJoint = fullRobotModel.getLegJoint(robotSide, legJointName); helpers.put(legJoint, new DiagnosticsWhenHangingHelper(legJoint, preserveY, registry)); }
private void makeArmJointHelper(RobotSide robotSide, double torqueOffsetSign, boolean preserveY, ArmJointName armJointName) { OneDoFJoint armJoint = fullRobotModel.getArmJoint(robotSide, armJointName); helpers.put(armJoint, new DiagnosticsWhenHangingHelper(armJoint, preserveY, registry)); torqueOffsetSigns.put(armJoint, torqueOffsetSign); }
private void makeArmJointHelper(RobotSide robotSide, boolean preserveY, ArmJointName armJointName) { OneDoFJoint armJoint = fullRobotModel.getArmJoint(robotSide, armJointName); helpers.put(armJoint, new DiagnosticsWhenHangingHelper(armJoint, preserveY, registry)); }
helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, true, robotIsHanging, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry));
helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, true, robotIsHanging, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry));
helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, true, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, true, true, topLegJoints, registry)); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, true, topLegJoints, registry));
helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, true, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0);
helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, true, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0); helpers.put(spineJoint, new DiagnosticsWhenHangingHelper(spineJoint, false, robotIsHanging, topLegJoints, registry)); torqueOffsetSigns.put(spineJoint, 1.0);