How to use

getZ

method

in

us.ihmc.robotics.math.filters.AlphaFilteredYoFrameVector

private void printFootSensorsOffset()
{
 java.text.NumberFormat doubleFormat = new java.text.DecimalFormat(" 0.00;-0.00");
 String offsetString = "";
 DateFormat dateFormat = new SimpleDateFormat("yyyyMMdd_HHmmss");
 Calendar calendar = Calendar.getInstance();
 String timestamp = dateFormat.format(calendar.getTime());
 offsetString += "Copy the following in ValkyrieSensorInformation:\n";
 for (RobotSide robotSide : RobotSide.values)
 {
   String side = robotSide.getCamelCaseNameForStartOfExpression();
   offsetString += "      SpatialForceVector " + side + "FootForceSensorTareOffset_" + timestamp + " = new SpatialForceVector(null, new double[] {";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getX()) + ", ";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getY()) + ", ";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getZ()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getX()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getY()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getZ()) + "});\n";
 }
 offsetString += "\n      footForceSensorTareOffsets = new SideDependentList<SpatialForceVector>(leftFootForceSensorTareOffset_" + timestamp
    + ", rightFootForceSensorTareOffset_" + timestamp + ");";
 System.out.println(offsetString);
}

private void printFootSensorsOffset()
{
 java.text.NumberFormat doubleFormat = new java.text.DecimalFormat(" 0.00;-0.00");
 String offsetString = "";
 DateFormat dateFormat = new SimpleDateFormat("yyyyMMdd_HHmmss");
 Calendar calendar = Calendar.getInstance();
 String timestamp = dateFormat.format(calendar.getTime());
 offsetString += "Copy the following in ValkyrieSensorInformation:\n";
 for (RobotSide robotSide : RobotSide.values)
 {
   String side = robotSide.getCamelCaseNameForStartOfExpression();
   offsetString += "      SpatialForceVector " + side + "FootForceSensorTareOffset_" + timestamp + " = new SpatialForceVector(null, new double[] {";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getX()) + ", ";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getY()) + ", ";
   offsetString += doubleFormat.format(footTorquesRawFiltered.get(robotSide).getZ()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getX()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getY()) + ", ";
   offsetString += doubleFormat.format(footForcesRawFiltered.get(robotSide).getZ()) + "});\n";
 }
 offsetString += "\n      footForceSensorTareOffsets = new SideDependentList<SpatialForceVector>(leftFootForceSensorTareOffset_" + timestamp
    + ", rightFootForceSensorTareOffset_" + timestamp + ");";
 System.out.println(offsetString);
}