@Override public void clear() { clear(null); }
public ArmTrajectoryCommand() { clear(); }
public void set(RobotSide robotSide, OneDoFJointTrajectoryMessage[] trajectoryPointListArray) { clear(robotSide); for (int i = 0; i < trajectoryPointListArray.length; i++) { SimpleTrajectoryPoint1DList simpleTrajectoryPoint1DList = jointTrajectoryInputs.add(); OneDoFJointTrajectoryMessage armOneJointTrajectoryMessage = trajectoryPointListArray[i]; armOneJointTrajectoryMessage.getTrajectoryPoints(simpleTrajectoryPoint1DList); } }
public void set(RobotSide robotSide, double trajectoryTime, double[] desiredJointPositions) { clear(robotSide); for (int jointIndex = 0; jointIndex < desiredJointPositions.length; jointIndex++) { SimpleTrajectoryPoint1DList jointTrajectoryInput = jointTrajectoryInputs.add(); jointTrajectoryInput.clear(); jointTrajectoryInput.addTrajectoryPoint(trajectoryTime, desiredJointPositions[jointIndex], 0.0); } }
public void set(RobotSide robotSide, RecyclingArrayList<? extends SimpleTrajectoryPoint1DList> trajectoryPointListArray) { clear(robotSide); for (int i = 0; i < trajectoryPointListArray.size(); i++) set(i, trajectoryPointListArray.get(i)); }
@Override public void set(ArmTrajectoryCommand other) { clear(other.getRobotSide()); jointspaceTrajectory.set(other.getJointspaceTrajectory()); }
@Override public void setFromMessage(ArmTrajectoryMessage message) { clear(RobotSide.fromByte(message.getRobotSide())); jointspaceTrajectory.setFromMessage(message.getJointspaceTrajectory()); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testIsCommandValid() { ArmTrajectoryCommand armTrajectoryCommand = new ArmTrajectoryCommand(new Random()); assertTrue(armTrajectoryCommand.isCommandValid()); armTrajectoryCommand.clear(); assertFalse(armTrajectoryCommand.isCommandValid()); }
@Override public void clear() { for (RobotSide robotSide : RobotSide.values) { handTrajectoryControllerCommands.get(robotSide).clear(); armTrajectoryControllerCommands.get(robotSide).clear(); footTrajectoryControllerCommands.get(robotSide).clear(); } chestTrajectoryControllerCommand.clear(); pelvisTrajectoryControllerCommand.clear(); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected = IndexOutOfBoundsException.class) public void testClear() { ArmTrajectoryCommand armTrajectoryCommand = new ArmTrajectoryCommand(); armTrajectoryCommand.clear(); assertNull(armTrajectoryCommand.getRobotSide()); assertEquals(Packet.VALID_MESSAGE_DEFAULT_ID, armTrajectoryCommand.getJointspaceTrajectory().getCommandId()); assertEquals(0.0, armTrajectoryCommand.getExecutionDelayTime(), 1e-9); assertEquals(ExecutionMode.OVERRIDE, armTrajectoryCommand.getJointspaceTrajectory().getExecutionMode()); assertEquals(0.0, armTrajectoryCommand.getExecutionTime(), 1e-9); assertEquals(0, armTrajectoryCommand.getJointspaceTrajectory().getNumberOfJoints()); assertEquals(Packet.INVALID_MESSAGE_ID, armTrajectoryCommand.getJointspaceTrajectory().getPreviousCommandId()); assertEquals(0, armTrajectoryCommand.getJointspaceTrajectory().getTrajectoryPointLists().size()); armTrajectoryCommand.getJointspaceTrajectory().getJointTrajectoryPoint(0, 0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testClearRobotSide() { ArmTrajectoryCommand armTrajectoryCommand = new ArmTrajectoryCommand(); assertNull(armTrajectoryCommand.getRobotSide()); armTrajectoryCommand.clear(RobotSide.LEFT); assertEquals(RobotSide.LEFT, armTrajectoryCommand.getRobotSide()); assertEquals(Packet.VALID_MESSAGE_DEFAULT_ID, armTrajectoryCommand.getJointspaceTrajectory().getCommandId()); assertEquals(0.0, armTrajectoryCommand.getExecutionDelayTime(), 1e-9); assertEquals(ExecutionMode.OVERRIDE, armTrajectoryCommand.getJointspaceTrajectory().getExecutionMode()); assertEquals(0.0, armTrajectoryCommand.getExecutionTime(), 1e-9); assertEquals(0, armTrajectoryCommand.getJointspaceTrajectory().getNumberOfJoints()); assertEquals(Packet.INVALID_MESSAGE_ID, armTrajectoryCommand.getJointspaceTrajectory().getPreviousCommandId()); assertEquals(0, armTrajectoryCommand.getJointspaceTrajectory().getTrajectoryPointLists().size()); }