@Override public void set(SE3TrajectoryControllerCommand other) { trajectoryPointList.setIncludingFrame(other.getTrajectoryPointList()); setPropertiesOnly(other); trajectoryFrame = other.getTrajectoryFrame(); useCustomControlFrame = other.useCustomControlFrame(); other.getControlFramePose(controlFramePoseInBodyFrame); }
public static void convertToSO3(SE3TrajectoryControllerCommand command, SO3TrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().set(command.getSelectionMatrix().getAngularPart()); commandToPack.getWeightMatrix().set(command.getWeightMatrix().getAngularPart()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setIncludingFrame(command.getTrajectoryPointList()); }
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()); } }