@Override public void setFromMessage(HeadTrajectoryMessage message) { so3Trajectory.setFromMessage(message.getSo3Trajectory()); }
@Override public void setFromMessage(ChestTrajectoryMessage message) { so3Trajectory.setFromMessage(message.getSo3Trajectory()); }
@Override public void setFromMessage(ChestHybridJointspaceTaskspaceTrajectoryMessage message) { jointspaceTrajectoryCommand.setFromMessage(message.getJointspaceTrajectoryMessage()); taskspaceTrajectoryCommand.setFromMessage(message.getTaskspaceTrajectoryMessage()); }
@Override public void setFromMessage(HeadHybridJointspaceTaskspaceTrajectoryMessage message) { jointspaceTrajectoryCommand.setFromMessage(message.getJointspaceTrajectoryMessage()); taskspaceTrajectoryCommand.setFromMessage(message.getTaskspaceTrajectoryMessage()); }
@Override public void setFromMessage(PelvisOrientationTrajectoryMessage message) { setEnableUserPelvisControlDuringWalking(message.getEnableUserPelvisControlDuringWalking()); so3Trajectory.setFromMessage(message.getSo3Trajectory()); }
@Override public void setFromMessage(QuadrupedBodyOrientationMessage message) { isExpressedInAbsoluteTime = message.getIsExpressedInAbsoluteTime(); isAnOffsetOrientation = message.getIsAnOffsetOrientation(); so3Trajectory.setFromMessage(message.getSo3Trajectory()); }
@Override public void set(ReferenceFrameHashCodeResolver resolver, SO3TrajectoryMessage 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 selectionFrame = resolver.getReferenceFrameFromHashCode(message.getSelectionMatrix().getSelectionFrameId()); selectionMatrix.setSelectionFrame(selectionFrame); ReferenceFrame weightSelectionFrame = resolver.getReferenceFrameFromHashCode(message.getWeightMatrix().getWeightFrameId()); weightMatrix.setWeightFrame(weightSelectionFrame); }