public void updateForceSensorState() { outputForceSensorDataHolder.set(inputForceSensorDataHolder); outputForceSensorDataHolderWithGravityCancelled.set(inputForceSensorDataHolder); if (hasFootForceSensors) updateFootForceSensorState(); if (hasWristForceSensors) updateWristForceSensorState(); if (forceSensorDataHolderToUpdate != null) forceSensorDataHolderToUpdate.set(outputForceSensorDataHolder); if (wrenchVisualizer != null) wrenchVisualizer.visualize(wrenches); }
public void getIntoControllerModel() { intermediateToControllerCopier.copy(); rawDataIntermediateToControllerCopier.copy(); controllerForceSensorDataHolder.set(intermediateForceSensorDataHolder); controllerCenterOfMassDataHolder.set(intermediateCenterOfMassDataHolder); controllerContactSensorHolder.set(intermediateContactSensorHolder); }
public void getIntoControllerModel() { intermediateToControllerCopier.copy(); rawDataIntermediateToControllerCopier.copy(); controllerForceSensorDataHolder.set(intermediateForceSensorDataHolder); controllerCenterOfMassDataHolder.set(intermediateCenterOfMassDataHolder); controllerContactSensorHolder.set(intermediateContactSensorHolder); }
public void setFromEstimatorModel(long timestamp, long estimatorTick, long estimatorClockStartTime) { this.timestamp = timestamp; this.estimatorTick = estimatorTick; this.estimatorClockStartTime = estimatorClockStartTime; checksum = calculateEstimatorChecksum(); estimatorToIntermediateCopier.copy(); rawDataEstimatorToIntermadiateCopier.copy(); intermediateForceSensorDataHolder.set(estimatorForceSensorDataHolder); intermediateCenterOfMassDataHolder.set(estimatorCenterOfMassDataHolder); intermediateContactSensorHolder.set(estimatorContactSensorHolder); }
public void setFromEstimatorModel(long timestamp, long estimatorTick, long estimatorClockStartTime) { this.timestamp = timestamp; this.estimatorTick = estimatorTick; this.estimatorClockStartTime = estimatorClockStartTime; checksum = calculateEstimatorChecksum(); estimatorToIntermediateCopier.copy(); rawDataEstimatorToIntermadiateCopier.copy(); intermediateForceSensorDataHolder.set(estimatorForceSensorDataHolder); intermediateCenterOfMassDataHolder.set(estimatorCenterOfMassDataHolder); intermediateContactSensorHolder.set(estimatorContactSensorHolder); }