@Override public void setFromMessage(MomentumTrajectoryMessage message) { angularMomentumTrajectory.setFromMessage(message.getAngularMomentumTrajectory()); }
@Override public void setFromMessage(CenterOfMassTrajectoryMessage message) { euclideanTrajectory.setFromMessage(message.getEuclideanTrajectory()); }
public void set(ReferenceFrame dataFrame, ReferenceFrame trajectoryFrame, EuclideanTrajectoryMessage message) { this.trajectoryFrame = trajectoryFrame; clear(dataFrame); setFromMessage(message); }
@Override public void setFromMessage(QuadrupedBodyHeightMessage message) { euclideanTrajectory.setFromMessage(message.getEuclideanTrajectory()); controlBodyHeight = message.getControlBodyHeight(); isExpressedInAbsoluteTime = message.getIsExpressedInAbsoluteTime(); }
/** * set this command to the contents of the message * * @param message the message that has trajectory data */ @Override public void setFromMessage(PelvisHeightTrajectoryMessage message) { euclideanTrajectory.setFromMessage(message.getEuclideanTrajectory()); enableUserPelvisControl = message.getEnableUserPelvisControl(); enableUserPelvisControlDuringWalking = message.getEnableUserPelvisControlDuringWalking(); }
@Override public void setFromMessage(SoleTrajectoryMessage message) { positionTrajectory.setFromMessage(message.getPositionTrajectory()); robotQuadrant = RobotQuadrant.fromByte(message.getRobotQuadrant()); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, EuclideanTrajectoryMessage message) { FrameInformation frameInformation = message.getFrameInformation(); long trajectoryFrameId = frameInformation.getTrajectoryReferenceFrameId(); long dataFrameId = HumanoidMessageTools.getDataFrameIDConsideringDefault(frameInformation); this.trajectoryFrame = resolver.getReferenceFrameFromHashCode(trajectoryFrameId); ReferenceFrame dataFrame = resolver.getReferenceFrameFromHashCode(dataFrameId); clear(dataFrame); setFromMessage(message); ReferenceFrame linearSelectionFrame = resolver.getReferenceFrameFromHashCode(message.getSelectionMatrix().getSelectionFrameId()); selectionMatrix.setSelectionFrame(linearSelectionFrame); ReferenceFrame linearWeightFrame = resolver.getReferenceFrameFromHashCode(message.getWeightMatrix().getWeightFrameId()); weightMatrix.setWeightFrame(linearWeightFrame); }