us.ihmc.humanoidRobotics.communication.subscribers.HumanoidRobotDataReceiver.<init> java code examples

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private void myMethod () {
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public HumanoidReferenceFrames createHumanoidReferenceFrames(FullHumanoidRobotModel fullHumanoidRobotModel)
{
 ForceSensorDataHolder forceSensorDataHolder = new ForceSensorDataHolder(Arrays.asList(fullHumanoidRobotModel.getForceSensorDefinitions()));
 HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullHumanoidRobotModel, forceSensorDataHolder);
 packetCommunicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
 return robotDataReceiver.getReferenceFrames();
}

public MultisensePointCloudReceiver(PacketCommunicator packetCommunicator, MultisenseTest testInfo, DRCRobotModel robotModel)
{
 this.packetCommunicator = packetCommunicator;
 this.testInfo = testInfo;
 this.frame = testInfo.getFrame();
 
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
 HumanoidReferenceFrames referenceFrames = robotDataReceiver.getReferenceFrames();
 
 this.headRootReferenceFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
 setupReferenceFrames(referenceFrames);
}

public MultisensePointCloudReceiver(PacketCommunicator packetCommunicator, MultisenseTest testInfo, DRCRobotModel robotModel)
{
 this.packetCommunicator = packetCommunicator;
 this.testInfo = testInfo;
 this.frame = testInfo.getFrame();
 
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
 HumanoidReferenceFrames referenceFrames = robotDataReceiver.getReferenceFrames();
 
 this.headRootReferenceFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
 setupReferenceFrames(referenceFrames);
}

public MocapToHeadFrameConverter(DRCRobotModel robotModel, PacketCommunicator mocapModulePacketCommunicator)
{
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
 HumanoidReferenceFrames referenceFrames = robotDataReceiver.getReferenceFrames();
 robotHeadFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
 
 mocapHeadFrame = new ReferenceFrame("headInMocapFrame", mocapOrigin)
 {
   @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(mocapHeadPoseInZUp);
   }
 };
 
 mocapOffsetFrame = new ReferenceFrame("mocapOffsetFrame", mocapOrigin)
 {
      @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(transformFromMocapHeadToRobotHead);
    
   }
 };
 
 mocapModulePacketCommunicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
}

public MocapToStateEstimatorFrameConverter(DRCRobotModel robotModel, PacketCommunicator mocapModulePacketCommunicator)
{
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
 HumanoidReferenceFrames referenceFrames = robotDataReceiver.getReferenceFrames();
 robotHeadFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
 
 mocapHeadFrame = new ReferenceFrame("headInMocapFrame", mocapOrigin)
 {
   @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(mocapHeadPoseInZUp);
   }
 };
 
 mocapOffsetFrame = new ReferenceFrame("mocapOffsetFrame", mocapOrigin)
 {
      @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(transformFromMocapHeadToRobotHead);
    
   }
 };
 
 mocapModulePacketCommunicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
}

public MocapToStateEstimatorFrameConverter(DRCRobotModel robotModel, PacketCommunicator mocapModulePacketCommunicator)
{
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
 HumanoidReferenceFrames referenceFrames = robotDataReceiver.getReferenceFrames();
 robotHeadFrame = referenceFrames.getNeckFrame(NeckJointName.PROXIMAL_NECK_PITCH);
 
 mocapHeadFrame = new ReferenceFrame("headInMocapFrame", mocapOrigin)
 {
   @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(mocapHeadPoseInZUp);
   }
 };
 
 mocapOffsetFrame = new ReferenceFrame("mocapOffsetFrame", mocapOrigin)
 {
      @Override
   protected void updateTransformToParent(RigidBodyTransform transformToParent)
   {
    transformToParent.set(transformFromMocapHeadToRobotHead);
    
   }
 };
 
 mocapModulePacketCommunicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
}

this.messageFactory = nodeConfiguration.getTopicMessageFactory();
this.fullRobotModel = robotModel.createFullRobotModel();
HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
rosAPI_communicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
rosAPI_communicator.attachListener(RobotConfigurationData.class, ppsOffsetProvider);

this.messageFactory = nodeConfiguration.getTopicMessageFactory();
this.fullRobotModel = robotModel.createFullRobotModel();
HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
rosAPI_communicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
rosAPI_communicator.attachListener(RobotConfigurationData.class, ppsOffsetProvider);

this.messageFactory = nodeConfiguration.getTopicMessageFactory();
this.fullRobotModel = robotModel.createFullRobotModel();
HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, null);
rosAPI_communicator.attachListener(RobotConfigurationData.class, robotDataReceiver);
rosAPI_communicator.attachListener(RobotConfigurationData.class, ppsOffsetProvider);

yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(false);
ForceSensorDataHolder forceSensorDataHolder = new ForceSensorDataHolder(Arrays.asList(fullRobotModel.getForceSensorDefinitions()));
HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, forceSensorDataHolder);

private BehaviorDispatcher<HumanoidBehaviorType> setupBehaviorDispatcher(String robotName, FullHumanoidRobotModel fullRobotModel, Ros2Node ros2Node,
                                    YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry registry)
{
 ForceSensorDataHolder forceSensorDataHolder = new ForceSensorDataHolder(Arrays.asList(fullRobotModel.getForceSensorDefinitions()));
 robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, forceSensorDataHolder);
 ROS2Tools.createCallbackSubscription(ros2Node, RobotConfigurationData.class, ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName),
                    s -> robotDataReceiver.receivedPacket(s.takeNextData()));
 BehaviorControlModeSubscriber desiredBehaviorControlSubscriber = new BehaviorControlModeSubscriber();
 ROS2Tools.createCallbackSubscription(ros2Node, BehaviorControlModePacket.class, IHMCHumanoidBehaviorManager.getSubscriberTopicNameGenerator(robotName),
                    s -> desiredBehaviorControlSubscriber.receivedPacket(s.takeNextData()));
 HumanoidBehaviorTypeSubscriber desiredBehaviorSubscriber = new HumanoidBehaviorTypeSubscriber();
 ROS2Tools.createCallbackSubscription(ros2Node, HumanoidBehaviorTypePacket.class, IHMCHumanoidBehaviorManager.getSubscriberTopicNameGenerator(robotName),
                    s -> desiredBehaviorSubscriber.receivedPacket(s.takeNextData()));
 YoVariableServer yoVariableServer = null;
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(false);
 BehaviorDispatcher<HumanoidBehaviorType> ret = new BehaviorDispatcher<>(robotName, yoTime, robotDataReceiver, desiredBehaviorControlSubscriber,
                                     desiredBehaviorSubscriber, ros2Node, yoVariableServer, HumanoidBehaviorType.class,
                                     HumanoidBehaviorType.STOP, registry, yoGraphicsListRegistry);
 return ret;
}

robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, forceSensorDataHolder);
ROS2Tools.createCallbackSubscription(ros2Node, RobotConfigurationData.class, ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName),
                   s -> robotDataReceiver.receivedPacket(s.takeNextData()));

yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(false);
ForceSensorDataHolder forceSensorDataHolder = new ForceSensorDataHolder(Arrays.asList(fullRobotModel.getForceSensorDefinitions()));
HumanoidRobotDataReceiver robotDataReceiver = new HumanoidRobotDataReceiver(fullRobotModel, forceSensorDataHolder);

humanoidRobotDataReceiver = new HumanoidRobotDataReceiver(fullHumanoidRobotModel, forceSensorDataHolder);
planCompleted = false;

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