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private void myMethod () {BufferedReader b =
InputStream in;new BufferedReader(new InputStreamReader(in))
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}
swingHeight = footstep.getSwingHeight();
trajectoryParametersProvider.set(new TrajectoryParameters(TrajectoryType.OBSTACLE_CLEARANCE, footstep.getSwingHeight())); trajectoryParametersProvider.set(new TrajectoryParameters(trajectoryType, footstep.getSwingHeight()));
public static FootstepDataMessage createFootstepDataMessage(Footstep footstep) { FootstepDataMessage message = new FootstepDataMessage(); message.setRobotSide(footstep.getRobotSide().toByte()); FramePoint3D location = new FramePoint3D(); FrameQuaternion orientation = new FrameQuaternion(); footstep.getPose(location, orientation); footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); message.getLocation().set(location); message.getOrientation().set(orientation); packPredictedContactPoints(footstep.getPredictedContactPoints(), message); message.setTrajectoryType(footstep.getTrajectoryType().toByte()); message.setSwingHeight(footstep.getSwingHeight()); message.setSwingTrajectoryBlendDuration(footstep.getSwingTrajectoryBlendDuration()); if (footstep.getCustomPositionWaypoints().size() != 0) { for (int i = 0; i < footstep.getCustomPositionWaypoints().size(); i++) { FramePoint3D framePoint = footstep.getCustomPositionWaypoints().get(i); framePoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); message.getCustomPositionWaypoints().add().set(framePoint); } } return message; }