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private void myMethod () {BufferedReader b =
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}
public Footstep(RobotSide robotSide, FramePose3D footstepPose, boolean trustHeight, boolean isAdjustable, List<Point2D> predictedContactPoints, TrajectoryType trajectoryType, double swingHeight) { this.robotSide = robotSide; this.trustHeight = trustHeight; this.isAdjustable = isAdjustable; this.footstepPose.setIncludingFrame(footstepPose); setPredictedContactPoints(predictedContactPoints); this.trajectoryType = trajectoryType; this.swingHeight = swingHeight; }
@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); } }
@Override public Footstep.FootstepType snapFootstep(Footstep footstep, HeightMapWithPoints heightMap) { // can only snap footsteps in world frame footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); FootstepDataMessage originalFootstep = HumanoidMessageTools.createFootstepDataMessage(footstep); //set to the sole pose FramePoint3D position = new FramePoint3D(); FrameQuaternion orientation = new FrameQuaternion(); footstep.getPose(position, orientation); originalFootstep.getLocation().set(position); originalFootstep.getOrientation().set(orientation); //get the footstep Footstep.FootstepType type = snapFootstep(originalFootstep, heightMap); if (type == Footstep.FootstepType.FULL_FOOTSTEP && originalFootstep.getPredictedContactPoints2d().size() > 0){ throw new RuntimeException(this.getClass().getSimpleName() + "Full Footstep should have null contact points"); } footstep.setPredictedContactPoints(HumanoidMessageTools.unpackPredictedContactPoints(originalFootstep)); footstep.setFootstepType(type); FramePose3D solePoseInWorld = new FramePose3D(ReferenceFrame.getWorldFrame(), originalFootstep.getLocation(), originalFootstep.getOrientation()); footstep.setPose(solePoseInWorld); footstep.setSwingHeight(originalFootstep.getSwingHeight()); footstep.setTrajectoryType(TrajectoryType.fromByte(originalFootstep.getTrajectoryType())); return type; }
@Override public Footstep.FootstepType snapFootstep(Footstep footstep, HeightMapWithPoints heightMap) { // can only snap footsteps in world frame footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); FootstepDataMessage originalFootstep = HumanoidMessageTools.createFootstepDataMessage(footstep); //set to the sole pose FramePoint3D position = new FramePoint3D(); FrameQuaternion orientation = new FrameQuaternion(); footstep.getPose(position, orientation); originalFootstep.getLocation().set(position); originalFootstep.getOrientation().set(orientation); //get the footstep Footstep.FootstepType type = snapFootstep(originalFootstep, heightMap); if (type == Footstep.FootstepType.FULL_FOOTSTEP && originalFootstep.getPredictedContactPoints2d().size() > 0 ) { throw new RuntimeException(this.getClass().getSimpleName() + "Full Footstep should have null contact points"); } footstep.setPredictedContactPoints(HumanoidMessageTools.unpackPredictedContactPoints(originalFootstep)); footstep.setFootstepType(type); FramePose3D solePoseInWorld = new FramePose3D(ReferenceFrame.getWorldFrame(), originalFootstep.getLocation(), originalFootstep.getOrientation()); footstep.setPose(solePoseInWorld); footstep.setSwingHeight(originalFootstep.getSwingHeight()); footstep.setTrajectoryType(TrajectoryType.fromByte(originalFootstep.getTrajectoryType())); return type; }
@Override public Footstep.FootstepType snapFootstep(Footstep footstep, HeightMapWithPoints heightMap) { // can only snap footsteps in world frame footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); FootstepDataMessage originalFootstep = HumanoidMessageTools.createFootstepDataMessage(footstep); //set to the sole pose FramePoint3D position = new FramePoint3D(); FrameQuaternion orientation = new FrameQuaternion(); footstep.getPose(position, orientation); originalFootstep.getLocation().set(position); originalFootstep.getOrientation().set(orientation); //get the footstep Footstep.FootstepType type = snapFootstep(originalFootstep, heightMap); footstep.setPredictedContactPoints(HumanoidMessageTools.unpackPredictedContactPoints(originalFootstep)); footstep.setFootstepType(type); FramePose3D solePoseInWorld = new FramePose3D(ReferenceFrame.getWorldFrame(), originalFootstep.getLocation(), originalFootstep.getOrientation()); footstep.setPose(solePoseInWorld); footstep.setSwingHeight(originalFootstep.getSwingHeight()); footstep.setTrajectoryType(TrajectoryType.fromByte(originalFootstep.getTrajectoryType())); return type; }
public Footstep.FootstepType snapFootstep(Footstep footstep, List<Point3D> pointList, double defaultHeight) { // can only snap footsteps in world frame footstep.getFootstepPose().checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); FootstepDataMessage originalFootstep = HumanoidMessageTools.createFootstepDataMessage(footstep); //set to the sole pose FramePoint3D position = new FramePoint3D(); FrameQuaternion orientation = new FrameQuaternion(); footstep.getPose(position, orientation); originalFootstep.getLocation().set(position); originalFootstep.getOrientation().set(orientation); //get the footstep Footstep.FootstepType type = snapFootstep(originalFootstep, pointList, defaultHeight); footstep.setFootstepType(type); footstep.setPredictedContactPoints(HumanoidMessageTools.unpackPredictedContactPoints(originalFootstep)); FramePose3D solePoseInWorld = new FramePose3D(ReferenceFrame.getWorldFrame(), originalFootstep.getLocation(), originalFootstep.getOrientation()); footstep.setPose(solePoseInWorld); footstep.setSwingHeight(originalFootstep.getSwingHeight()); footstep.setTrajectoryType(TrajectoryType.fromByte(originalFootstep.getTrajectoryType())); return type; }