@Override public P getTrajectoryPoint(int trajectoryPointIndex) { return trajectoryPoints.get(trajectoryPointIndex); }
@Override public F getTrajectoryPoint(int trajectoryPointIndex) { return trajectoryPoints.get(trajectoryPointIndex); }
public SimpleTrajectoryPoint1DList getJointTrajectoryPointList(int jointIndex) { return jointTrajectoryInputs.get(jointIndex); }
public OneDoFJointTrajectoryCommand getJointTrajectoryPointList(int jointIndex) { return jointTrajectoryInputs.get(jointIndex); }
@Override public void addTimeOffset(double timeOffsetToAdd) { for (int i = 0; i < trajectoryPoints.size(); i++) trajectoryPoints.get(i).addTimeOffset(timeOffsetToAdd); }
public void retrieveJointsFromName(Map<String, OneDoFJoint> nameToJointMap) { for (int i = 0; i < jointspaceFeedbackControlCommands.size(); i++) { JointspaceFeedbackControlCommand command = jointspaceFeedbackControlCommands.get(i); command.retrieveJointsFromName(nameToJointMap); } }
public void retrieveJointsFromName(Map<String, OneDoFJoint> nameToJointMap) { for (int i = 0; i < jointspaceAccelerationCommands.size(); i++) { JointspaceAccelerationCommand command = jointspaceAccelerationCommands.get(i); command.retrieveJointsFromName(nameToJointMap); } }
@Override public void addTimeOffset(double timeOffsetToAdd) { for (int i = 0; i < trajectoryPoints.size(); i++) trajectoryPoints.get(i).addTimeOffset(timeOffsetToAdd); }
public void changeFrame(ReferenceFrame referenceFrame) { if (this.referenceFrame == referenceFrame) return; for (int i = 0; i < trajectoryPoints.size(); i++) trajectoryPoints.get(i).changeFrame(referenceFrame); this.referenceFrame = referenceFrame; }
@Override public void subtractTimeOffset(double timeOffsetToSubtract) { for (int i = 0; i < trajectoryPoints.size(); i++) trajectoryPoints.get(i).subtractTimeOffset(timeOffsetToSubtract); }
public void appendWaypoints(RecyclingArrayList<? extends OneDoFTrajectoryPointInterface<?>> waypoints1D) { checkNumberOfWaypoints(numberOfWaypoints.getIntegerValue() + waypoints1D.size()); for (int i = 0; i < waypoints1D.size(); i++) appendWaypointUnsafe(waypoints1D.get(i).getTime(), waypoints1D.get(i).getPosition(), waypoints1D.get(i).getVelocity()); }
public void appendWaypoints(RecyclingArrayList<? extends OneDoFTrajectoryPointInterface<?>> waypoints1D) { checkNumberOfWaypoints(numberOfWaypoints.getIntegerValue() + waypoints1D.size()); for (int i = 0; i < waypoints1D.size(); i++) appendWaypointUnsafe(waypoints1D.get(i).getTime(), waypoints1D.get(i).getPosition(), waypoints1D.get(i).getVelocity()); }
public void retrieveRigidBodiesFromName(Map<String, RigidBody> nameToRigidBodyMap) { for (int i = 0; i < spatialVelocityCommands.size(); i++) { SpatialVelocityCommand command = spatialVelocityCommands.get(i); command.setBase(nameToRigidBodyMap.get(command.getBaseName())); command.setEndEffector(nameToRigidBodyMap.get(command.getEndEffectorName())); } }
public void set(RecyclingArrayList<? extends SimpleTrajectoryPoint1DList> trajectoryPointListArray) { clear(); for (int i = 0; i < trajectoryPointListArray.size(); i++) { set(i, trajectoryPointListArray.get(i)); } }
public void set(RobotSide robotSide, RecyclingArrayList<? extends SimpleTrajectoryPoint1DList> trajectoryPointListArray) { clear(robotSide); for (int i = 0; i < trajectoryPointListArray.size(); i++) set(i, trajectoryPointListArray.get(i)); }
public void setIncludingFrame(T other) { clear(other.referenceFrame); for (int i = 0; i < other.getNumberOfTrajectoryPoints(); i++) { F newTrajectoryPoint = addAndInitializeTrajectoryPoint(); // Here we don't want to do setIncludingFrame() in case there is inconsistency in other. newTrajectoryPoint.set(other.trajectoryPoints.get(i)); } }
public void setPredictedContactPoints(RecyclingArrayList<Point2d> predictedContactPoints) { this.predictedContactPoints.clear(); for(int i = 0; i < predictedContactPoints.size(); i++) this.predictedContactPoints.add().set(predictedContactPoints.get(i)); }
public void setPredictedContactPoints(RecyclingArrayList<Point2d> predictedContactPoints) { this.predictedContactPoints.clear(); for(int i = 0; i < predictedContactPoints.size(); i++) this.predictedContactPoints.add().set(predictedContactPoints.get(i)); }
@Override public void set(T other) { checkReferenceFrameMatch(other); clear(); for (int i = 0; i < other.getNumberOfTrajectoryPoints(); i++) { F newTrajectoryPoint = addAndInitializeTrajectoryPoint(); newTrajectoryPoint.set(other.trajectoryPoints.get(i)); } }
@Override public void set(AdjustFootstepCommand other) { robotSide = other.robotSide; origin = other.origin; adjustedPosition.set(other.adjustedPosition); adjustedOrientation.set(other.adjustedOrientation); RecyclingArrayList<Point2d> otherPredictedContactPoints = other.predictedContactPoints; predictedContactPoints.clear(); for (int i = 0; i < otherPredictedContactPoints.size(); i++) predictedContactPoints.add().set(otherPredictedContactPoints.get(i)); }