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Footstep.getSwingHeight
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How to use
getSwingHeight
method
in
us.ihmc.humanoidRobotics.footstep.Footstep

Best Java code snippets using us.ihmc.humanoidRobotics.footstep.Footstep.getSwingHeight (Showing top 3 results out of 315)

origin: us.ihmc/IHMCHumanoidRobotics

swingHeight = footstep.getSwingHeight();
origin: us.ihmc/CommonWalkingControlModules

trajectoryParametersProvider.set(new TrajectoryParameters(TrajectoryType.OBSTACLE_CLEARANCE, footstep.getSwingHeight()));
trajectoryParametersProvider.set(new TrajectoryParameters(trajectoryType, footstep.getSwingHeight()));
origin: us.ihmc/ihmc-humanoid-robotics

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;
}
us.ihmc.humanoidRobotics.footstepFootstepgetSwingHeight

Popular methods of Footstep

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

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