/** * Same as {@link #set(HandTrajectoryCommand)} but does not change the trajectory points. * * @param other */ public void setPropertiesOnly(HandTrajectoryCommand other) { se3Trajectory.setPropertiesOnly(other.se3Trajectory); wrenchTrajectory.setPropertiesOnly(other.wrenchTrajectory); robotSide = other.robotSide; }
@Override public void set(WrenchTrajectoryControllerCommand other) { dataFrame = other.getDataFrame(); trajectoryPointTimes.reset(); trajectoryPointList.clear(); for (int i = 0; i < other.getNumberOfTrajectoryPoints(); i++) { trajectoryPointTimes.add(other.getTrajectoryPointTime(i)); trajectoryPointList.add().setIncludingFrame(other.trajectoryPointList.get(i)); } setPropertiesOnly(other); trajectoryFrame = other.getTrajectoryFrame(); useCustomControlFrame = other.useCustomControlFrame(); other.getControlFramePose(controlFramePoseInBodyFrame); }