/** * Same as {@link #set(EuclideanTrajectoryControllerCommand)} but does not change the trajectory * points. * * @param other */ public void setPropertiesOnly(EuclideanTrajectoryControllerCommand other) { setQueueableCommandVariables(other); selectionMatrix.set(other.getSelectionMatrix()); weightMatrix.set(other.getWeightMatrix()); trajectoryFrame = other.getTrajectoryFrame(); }
public static void convertToEuclidean(SE3TrajectoryControllerCommand command, EuclideanTrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().set(command.getSelectionMatrix().getLinearPart()); commandToPack.getWeightMatrix().set(command.getWeightMatrix().getLinearPart()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setIncludingFrame(command.getTrajectoryPointList()); } }
public static void convertToSE3(EuclideanTrajectoryControllerCommand command, SE3TrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().clearAngularSelection(); commandToPack.getSelectionMatrix().setLinearPart(command.getSelectionMatrix()); commandToPack.getWeightMatrix().clearAngularWeights(); commandToPack.getWeightMatrix().setLinearPart(command.getWeightMatrix()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setToPositionTrajectoryIncludingFrame(command.getTrajectoryPointList()); }