/** * Same as {@link #set(SE3TrajectoryControllerCommand)} but does not change the trajectory * points. * * @param other */ public void setPropertiesOnly(SE3TrajectoryControllerCommand other) { setQueueableCommandVariables(other); selectionMatrix.set(other.getSelectionMatrix()); weightMatrix.set(other.getWeightMatrix()); trajectoryFrame = other.getTrajectoryFrame(); }
public static void convertToSE3(SO3TrajectoryControllerCommand command, SE3TrajectoryControllerCommand commandToPack) { commandToPack.setQueueableCommandVariables(command); commandToPack.setTrajectoryFrame(command.getTrajectoryFrame()); commandToPack.getSelectionMatrix().clearLinearSelection(); commandToPack.getSelectionMatrix().setAngularPart(command.getSelectionMatrix()); commandToPack.getWeightMatrix().clearLinearWeights(); commandToPack.getWeightMatrix().setAngularPart(command.getWeightMatrix()); commandToPack.setUseCustomControlFrame(command.useCustomControlFrame()); commandToPack.setControlFramePose(command.getControlFramePose()); commandToPack.getTrajectoryPointList().setToOrientationTrajectoryIncludingFrame(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()); }
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()); } }
/** * Set this command to the contents of the z height of the pelvis trajectory command Copies the z * points, velocities, and the linear z weight and frame * * @param command the other command */ public void set(PelvisTrajectoryCommand command) { clear(command.getSE3Trajectory().getDataFrame()); euclideanTrajectory.setQueueableCommandVariables(command.getSE3Trajectory()); WeightMatrix3D weightMatrix = command.getSE3Trajectory().getWeightMatrix().getLinearPart(); double zAxisWeight = weightMatrix.getZAxisWeight(); WeightMatrix3D currentWeightMatrix = euclideanTrajectory.getWeightMatrix(); currentWeightMatrix.setZAxisWeight(zAxisWeight); currentWeightMatrix.setWeightFrame(weightMatrix.getWeightFrame()); for (int i = 0; i < command.getSE3Trajectory().getNumberOfTrajectoryPoints(); i++) { FrameSE3TrajectoryPoint trajectoryPoint = command.getSE3Trajectory().getTrajectoryPoint(i); double time = trajectoryPoint.getTime(); double position = trajectoryPoint.getPositionZ(); double velocity = trajectoryPoint.getLinearVelocityZ(); tempPoint.setToZero(); tempPoint.setZ(position); tempVector.setToZero(); tempVector.setZ(velocity); euclideanTrajectory.addTrajectoryPoint(time, tempPoint, tempVector); } enableUserPelvisControl = true; enableUserPelvisControlDuringWalking = command.isEnableUserPelvisControlDuringWalking(); }