/** * Same as {@link #set(SO3TrajectoryControllerCommand)} but does not change the trajectory * points. * * @param other */ public void setPropertiesOnly(SO3TrajectoryControllerCommand other) { setQueueableCommandVariables(other); selectionMatrix.set(other.getSelectionMatrix()); weightMatrix.set(other.getWeightMatrix()); }
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 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()); }