@Override public Footstep generateFootstepWithoutHeightMap(FramePose2D desiredSolePosition, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, double height, Vector3D planeNormal) { return convexHullFootstepSnapper.generateFootstepWithoutHeightMap(desiredSolePosition, foot, soleFrame, robotSide, height, planeNormal); }
@Override public Footstep generateFootstepWithoutHeightMap(FramePose2d desiredSolePosition, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide, double height, Vector3d planeNormal) { return convexHullFootstepSnapper.generateFootstepWithoutHeightMap(desiredSolePosition, foot, soleFrame, robotSide, height, planeNormal); }
public Footstep generateFootstepUsingHeightMap(FramePose2d footPose2d, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide, List<Point3d> pointList, double defaultHeight) { Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3d(0.0, 0.0, 1.0)); snapFootstep(toReturn, pointList, defaultHeight); return toReturn; }
@Override public Footstep generateFootstepUsingHeightMap(FramePose2d footPose2d, RigidBody foot, ReferenceFrame soleFrame, RobotSide robotSide, HeightMapWithPoints heightMap) throws InsufficientDataException { Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3d(0.0, 0.0, 1.0)); snapFootstep(toReturn, heightMap); return toReturn; }
@Override public Footstep generateFootstepUsingHeightMap(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, HeightMapWithPoints heightMap) throws InsufficientDataException { Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3D(0.0, 0.0, 1.0)); snapFootstep(toReturn, heightMap); return toReturn; }
public Footstep generateFootstepUsingHeightMap(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, List<Point3D> pointList, double defaultHeight) { Footstep toReturn = generateFootstepWithoutHeightMap(footPose2d, foot, soleFrame, robotSide, 0.0, new Vector3D(0.0, 0.0, 1.0)); snapFootstep(toReturn, pointList, defaultHeight); return toReturn; }