Tabnine Logo
Footstep.<init>
Code IndexAdd Tabnine to your IDE (free)

How to use
us.ihmc.humanoidRobotics.footstep.Footstep
constructor

Best Java code snippets using us.ihmc.humanoidRobotics.footstep.Footstep.<init> (Showing top 20 results out of 315)

origin: us.ihmc/ihmc-humanoid-robotics

public static Footstep[] createFootsteps(int numberOfSteps)
{
 Footstep[] footsteps = new Footstep[numberOfSteps];
 for (int i = 0; i < numberOfSteps; i++)
 {
   footsteps[i] = new Footstep();
 }
 return footsteps;
}
origin: us.ihmc/ihmc-humanoid-behaviors

public FootstepTask(FullHumanoidRobotModel fullRobotModel, RobotSide robotSide, FootstepListBehavior footstepListBehavior, FramePose3D footPose)
{
 super(footstepListBehavior);
 footsteps.add(new Footstep(robotSide, footPose));
 this.footstepListBehavior = footstepListBehavior;
}
origin: us.ihmc/ihmc-humanoid-robotics

public static Footstep generateStandingFootstep(RobotSide side, RigidBodyBasics foot, ReferenceFrame soleFrame)
{
 FramePose3D footFramePose = new FramePose3D(soleFrame);
 footFramePose.changeFrame(worldFrame);
 boolean trustHeight = false;
 Footstep footstep = new Footstep(side, footFramePose, trustHeight);
 return footstep;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private ArrayList<Footstep> createRandomFootsteps(int number)
{
 Random random = new Random(77);
 ArrayList<Footstep> footsteps = new ArrayList<Footstep>();
 for (int footstepNumber = 0; footstepNumber < number; footstepNumber++)
 {
   FramePose3D pose = new FramePose3D(ReferenceFrame.getWorldFrame(), new Point3D(footstepNumber, 0.0, 0.0),
      new Quaternion(random.nextDouble(), random.nextDouble(), random.nextDouble(), random.nextDouble()));
   boolean trustHeight = true;
   Footstep footstep = new Footstep(robotSide, pose, trustHeight);
   footsteps.add(footstep);
 }
 return footsteps;
}
origin: us.ihmc/IHMCHumanoidBehaviors

public FootstepTask(E stateEnum,FullHumanoidRobotModel fullRobotModel, RobotSide robotSide, FootstepListBehavior footstepListBehavior, FramePose footPose)
{
 super(stateEnum, footstepListBehavior);
 ReferenceFrame soleFrame;
 RigidBody endEffector;
 
 soleFrame = fullRobotModel.getSoleFrame(robotSide);
 endEffector = fullRobotModel.getEndEffector(robotSide, LimbName.LEG);
 
 PoseReferenceFrame poseReferenceFrame = new PoseReferenceFrame("poseReferenceFrame", ReferenceFrame.getWorldFrame());
 poseReferenceFrame.setPoseAndUpdate(footPose);
 footsteps.add(new Footstep(endEffector, robotSide, soleFrame, poseReferenceFrame));
 this.footstepListBehavior = footstepListBehavior;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private Footstep createFootsteps(double length, double width, int numberOfSteps)
{
 ArrayList<Footstep> upcomingFootsteps = new ArrayList<>();
 RobotSide robotSide = RobotSide.LEFT;
 for (int i = 0; i < numberOfSteps; i++)
 {
   FramePose3D footstepPose = new FramePose3D(ReferenceFrame.getWorldFrame());
   footstepPose.setPosition(length * (i + 1), robotSide.negateIfRightSide(0.5 * width), 0.0);
   upcomingFootsteps.add(new Footstep(robotSide, footstepPose, false));
   FramePoint2D referenceFootstepPosition = new FramePoint2D(footstepPose.getPosition());
   robotSide = robotSide.getOppositeSide();
 }
 return upcomingFootsteps.get(0);
}
origin: us.ihmc/ihmc-humanoid-robotics

public static Footstep generateStandingFootstep(RobotSide side, SideDependentList<? extends ContactablePlaneBody> bipedFeet)
{
 ContactablePlaneBody endEffector = bipedFeet.get(side);
 FramePose3D footFramePose = new FramePose3D(endEffector.getSoleFrame());
 footFramePose.changeFrame(worldFrame);
 boolean trustHeight = false;
 Footstep footstep = new Footstep(side, footFramePose, trustHeight);
 return footstep;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

@Override
public void receivedPacket(FootstepDataMessage packet)
{
  FramePose3D pose = new FramePose3D(ReferenceFrame.getWorldFrame(), packet.getLocation(), packet.getOrientation());
  boolean trustHeight = true;
  Footstep footstep = new Footstep(RobotSide.fromByte(packet.getRobotSide()), pose, trustHeight);
  reconstructedFootsteps.add(footstep);
}
origin: us.ihmc/IHMCHumanoidRobotics

public static Footstep generateStandingFootstep(RobotSide side, RigidBody foot, ReferenceFrame soleFrame)
{
 FramePose footFramePose = new FramePose(foot.getParentJoint().getFrameAfterJoint());
 footFramePose.changeFrame(worldFrame);
 boolean trustHeight = false;
 PoseReferenceFrame footstepPoseFrame = new PoseReferenceFrame("footstepPoseFrame", footFramePose);
 Footstep footstep = new Footstep(foot, side, soleFrame, footstepPoseFrame, trustHeight);
 return footstep;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

@Override
public void receivedPacket(FootstepDataListMessage packet)
{
  boolean adjustable = packet.getAreFootstepsAdjustable();
  List<FootstepDataMessage> footstepDataList = packet.getFootstepDataList();
  for (int i = 0; i < footstepDataList.size(); i++)
  {
   FootstepDataMessage footstepData = footstepDataList.get(i);
   FramePose3D footstepPose = new FramePose3D(ReferenceFrame.getWorldFrame(), footstepData.getLocation(), footstepData.getOrientation());
   Footstep footstep = new Footstep(robotSide, footstepPose, true, adjustable);
   footstep.setPredictedContactPoints(HumanoidMessageTools.unpackPredictedContactPoints(footstepData));
        footstep.setTrajectoryType(TrajectoryType.fromByte(footstepData.getTrajectoryType()));
   footstep.setSwingHeight(footstepData.getSwingHeight());
   reconstructedFootstepPath.add(footstep);
  }
}
origin: us.ihmc/DarpaRoboticsChallenge

private void addFootstepDataList(FootstepDataListMessage footstepDataList)
{
 ArrayList<FootstepDataMessage> footstepList = footstepDataList.getDataList();
 ArrayList<Footstep> footsteps = new ArrayList<Footstep>();
 for (FootstepDataMessage footstepData : footstepList)
 {
   RobotSide robotSide = footstepData.getRobotSide();
   ContactablePlaneBody contactableBody = bipedFeet.get(robotSide);
   FramePose footstepPose = new FramePose(ReferenceFrame.getWorldFrame(), footstepData.getLocation(), footstepData.getOrientation());
   PoseReferenceFrame footstepPoseFrame = new PoseReferenceFrame("footstepPoseFrame", footstepPose);
   String id = "scriptedFootstep_" + footstepCounter;
   Footstep footstep = new Footstep(id, contactableBody.getRigidBody(), robotSide, contactableBody.getSoleFrame(), footstepPoseFrame, true);
   footsteps.add(footstep);
   footstepCounter++;
 }
 footstepQueue.addAll(footsteps);
}
origin: us.ihmc/IHMCHumanoidRobotics

public static Footstep generateStandingFootstep(RobotSide side, SideDependentList<? extends ContactablePlaneBody> bipedFeet)
{
 ContactablePlaneBody endEffector = bipedFeet.get(side);
 FramePose footFramePose = new FramePose(endEffector.getFrameAfterParentJoint());
 footFramePose.changeFrame(worldFrame);
 boolean trustHeight = false;
 PoseReferenceFrame footstepPoseFrame = new PoseReferenceFrame("footstepPoseFrame", footFramePose);
 Footstep footstep = new Footstep(endEffector.getRigidBody(), side, endEffector.getSoleFrame(), footstepPoseFrame, trustHeight);
 return footstep;
}
origin: us.ihmc/IHMCHumanoidBehaviors

private void addFootstepDataList(FootstepDataListMessage footstepDataList)
{
 ArrayList<FootstepDataMessage> footstepList = footstepDataList.getDataList();
 ArrayList<Footstep> footsteps = new ArrayList<Footstep>();
 for (FootstepDataMessage footstepData : footstepList)
 {
   RobotSide robotSide = footstepData.getRobotSide();
   ContactablePlaneBody contactableBody = bipedFeet.get(robotSide);
   FramePose footstepPose = new FramePose(ReferenceFrame.getWorldFrame(), footstepData.getLocation(), footstepData.getOrientation());
   PoseReferenceFrame footstepPoseFrame = new PoseReferenceFrame("footstepPoseFrame", footstepPose);
   String id = "scriptedFootstep_" + footstepCounter;
   Footstep footstep = new Footstep(id, contactableBody.getRigidBody(), robotSide, contactableBody.getSoleFrame(), footstepPoseFrame, true);
   footsteps.add(footstep);
   footstepCounter++;
 }
 footstepQueue.addAll(footsteps);
}
origin: us.ihmc/CommonWalkingControlModules

  public Footstep createFootstep(RobotSide robotSide, FramePose footstepPose)
  {
   RigidBody foot = contactableFeet.get(robotSide).getRigidBody();
   ReferenceFrame soleFrame = contactableFeet.get(robotSide).getSoleFrame();
   Footstep ret = new Footstep(foot, robotSide, soleFrame);
   ret.setPose(footstepPose);
   ret.setPredictedContactPointsFromFramePoint2ds(contactableFeet.get(robotSide).getContactPoints2d());

   return ret;
  }
}
origin: us.ihmc/ihmc-avatar-interfaces-test

private Footstep generateFootstep(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, double height, Vector3D planeNormal)
{
 double yaw = footPose2d.getYaw();
 Point3D position = new Point3D(footPose2d.getX(), footPose2d.getY(), height);
 Quaternion orientation = new Quaternion();
 RotationTools.computeQuaternionFromYawAndZNormal(yaw, planeNormal, orientation);
 FramePose3D footstepPose = new FramePose3D(ReferenceFrame.getWorldFrame(), position, orientation);
 Footstep footstep = new Footstep(robotSide, footstepPose);
 return footstep;
}
origin: us.ihmc/ihmc-humanoid-robotics

@Override
public Footstep generateFootstepWithoutHeightMap(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, double height,
    Vector3D planeNormal)
{
 double yaw = footPose2d.getYaw();
 Point3D position = new Point3D(footPose2d.getX(), footPose2d.getY(), height);
 Quaternion orientation = new Quaternion();
 RotationTools.computeQuaternionFromYawAndZNormal(yaw, planeNormal, orientation);
 FramePose3D solePose = new FramePose3D(ReferenceFrame.getWorldFrame(), position, orientation);
 Footstep footstep = new Footstep(robotSide, solePose);
 return footstep;
}
origin: us.ihmc/ihmc-avatar-interfaces-test

private Footstep generateFootstepFromLocationAndOrientation(RobotSide robotSide, double[] positionArray, double[] orientationArray)
{
 Footstep footstep = new Footstep(robotSide);
 Point3D position = new Point3D(positionArray);
 Quaternion orientation = new Quaternion(orientationArray);
 RigidBodyTransform anklePose = new RigidBodyTransform();
 anklePose.setRotation(orientation);
 anklePose.setTranslation(position);
 FramePose3D pose = new FramePose3D(ReferenceFrame.getWorldFrame(), anklePose);
 footstep.setFromAnklePose(pose, transformsFromAnkleToSole.get(robotSide));
 return footstep;
}
origin: us.ihmc/IHMCHumanoidRobotics

@Override
public Footstep generateFootstepWithoutHeightMap(FramePose2d footPose2d, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide, double height,
    Vector3d planeNormal)
{
 double yaw = footPose2d.getYaw();
 Point3d position = new Point3d(footPose2d.getX(), footPose2d.getY(), height);
 Quat4d orientation = new Quat4d();
 RotationTools.computeQuaternionFromYawAndZNormal(yaw, planeNormal, orientation);
 Footstep footstep = new Footstep(foot, robotSide, soleFrame);
 footstep.setSolePose(new FramePose(ReferenceFrame.getWorldFrame(), position, orientation));
 return footstep;
}
origin: us.ihmc/CommonWalkingControlModules

private Footstep createFootstepAtCurrentLocation(RobotSide robotSide)
{
 ContactablePlaneBody foot = feet.get(robotSide);
 ReferenceFrame footReferenceFrame = foot.getRigidBody().getParentJoint().getFrameAfterJoint();
 FramePose framePose = new FramePose(footReferenceFrame);
 framePose.changeFrame(worldFrame);
 PoseReferenceFrame poseReferenceFrame = new PoseReferenceFrame("poseReferenceFrame", framePose);
 boolean trustHeight = true;
 Footstep footstep = new Footstep(foot.getRigidBody(), robotSide, foot.getSoleFrame(), poseReferenceFrame, trustHeight);
 return footstep;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

  @ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void testCopy()
  {
   Footstep footstep = new Footstep(RobotSide.RIGHT);
   FootstepTiming timing = new FootstepTiming(0.1, 1.2);
   FootstepData obj1 = new FootstepData(footstep, timing);
   FootstepData obj2 = new FootstepData();
   assertTrue(obj2.getFootstep() == null);
   obj2.set(obj1);
   assertTrue(obj2.getFootstep() == footstep);
   assertTrue(obj2.getStepTime() == timing.getStepTime());
  }
}
us.ihmc.humanoidRobotics.footstepFootstep<init>

Popular methods of Footstep

  • getRobotSide
  • getPose
  • getSoleReferenceFrame
  • getPredictedContactPoints
  • getZ
  • getPosition
  • getSolePose
  • setSwingHeight
  • setTrajectoryType
  • setZ
  • getFootstepPose
  • getFootstepType
  • getFootstepPose,
  • getFootstepType,
  • getSwingHeight,
  • getTrajectoryType,
  • setPose,
  • getBody,
  • getCustomPositionWaypoints,
  • getOrientation,
  • getOrientationInWorldFrame

Popular in Java

  • Finding current android device location
  • requestLocationUpdates (LocationManager)
  • setRequestProperty (URLConnection)
  • getSharedPreferences (Context)
  • Proxy (java.net)
    This class represents proxy server settings. A created instance of Proxy stores a type and an addres
  • ArrayList (java.util)
    ArrayList is an implementation of List, backed by an array. All optional operations including adding
  • Arrays (java.util)
    This class contains various methods for manipulating arrays (such as sorting and searching). This cl
  • Deque (java.util)
    A linear collection that supports element insertion and removal at both ends. The name deque is shor
  • Callable (java.util.concurrent)
    A task that returns a result and may throw an exception. Implementors define a single method with no
  • Semaphore (java.util.concurrent)
    A counting semaphore. Conceptually, a semaphore maintains a set of permits. Each #acquire blocks if
  • Top Sublime Text plugins
Tabnine Logo
  • Products

    Search for Java codeSearch for JavaScript code
  • IDE Plugins

    IntelliJ IDEAWebStormVisual StudioAndroid StudioEclipseVisual Studio CodePyCharmSublime TextPhpStormVimGoLandRubyMineEmacsJupyter NotebookJupyter LabRiderDataGripAppCode
  • Company

    About UsContact UsCareers
  • Resources

    FAQBlogTabnine AcademyTerms of usePrivacy policyJava Code IndexJavascript Code Index
Get Tabnine for your IDE now