@Override public void run() { while (true) { if (handDesiredConfigurationMessageSubscriber.isNewDesiredConfigurationAvailable()) { HandDesiredConfigurationMessage ihmcMessage = handDesiredConfigurationMessageSubscriber.pollMessage(); rosHandCommunicator.sendHandCommand(ihmcMessage); } } } }
@Override public void run() { while (true) { if (handDesiredConfigurationMessageSubscriber.isNewDesiredConfigurationAvailable()) { HandDesiredConfigurationMessage ihmcMessage = handDesiredConfigurationMessageSubscriber.pollMessage(); rosHandCommunicator.sendHandCommand(ihmcMessage); } } } }
@Override public void run() { while (true) { if (handDesiredConfigurationMessageSubscriber.isNewDesiredConfigurationAvailable()) { HandDesiredConfigurationMessage ihmcMessage = handDesiredConfigurationMessageSubscriber.pollMessage(); rosHandCommunicator.sendHandCommand(ihmcMessage); } } } }
private void checkForNewHandDesiredConfigurationRequested() { for (RobotSide robotSide : RobotSide.values) { if (handDesiredConfigurationMessageSubscribers.get(robotSide).isNewDesiredConfigurationAvailable()) { HandConfiguration handDesiredConfiguration = HandConfiguration.fromByte(handDesiredConfigurationMessageSubscribers.get(robotSide).pollMessage() .getDesiredHandConfiguration()); ValkyrieFingerSetController controller = fingerSetControllers.get(robotSide); if (controller == null) continue; controller.getDesiredHandConfiguration(handDesiredConfiguration); } } }
HandDesiredConfigurationMessage packet = handDesiredConfigurationMessageSubscriber.pollMessage(); HandConfiguration state = packet.getHandDesiredConfiguration();
HandDesiredConfigurationMessage packet = handDesiredConfigurationMessageSubscriber.pollMessage(); HandConfiguration state = HandConfiguration.fromByte(packet.getDesiredHandConfiguration());
HandConfiguration handDesiredConfiguration = handDesiredConfigurationSubscriber.pollMessage().getHandDesiredConfiguration();
HandConfiguration handDesiredConfiguration = HandConfiguration.fromByte(handDesiredConfigurationSubscriber.pollMessage() .getDesiredHandConfiguration());
HandConfiguration desiredHandConfiguration = HandConfiguration.fromByte(handDesiredConfigurationMessageSubscribers.get(robotSide).pollMessage() .getDesiredHandConfiguration()); handJointFingerSetControllers.get(robotSide).clearTrajectories();