How to use

setCurrentRobotMotionStatus

method

in

us.ihmc.sensorProcessing.model.RobotMotionStatusHolder

  @Override
  public void robotMotionStatusHasChanged(RobotMotionStatus newStatus, double time)
  {
   controllerRobotMotionStatusHolder.setCurrentRobotMotionStatus(newStatus);
  }
};

  @Override
  public void robotMotionStatusHasChanged(RobotMotionStatus newStatus, double time)
  {
   controllerRobotMotionStatusHolder.setCurrentRobotMotionStatus(newStatus);
  }
};

public void readControllerDataIntoEstimator()
{
 for (int i = 0; i < estimatorFeet.size(); i++)
 {
   RigidBody foot = estimatorFeet.get(i);
   estimatorCenterOfPressureDataHolder.setCenterOfPressure(centerOfPressure.get(foot.getName()), foot);
 }
 if (robotMotionStatus.get() != null)
   estimatorRobotMotionStatusHolder.setCurrentRobotMotionStatus(robotMotionStatus.getAndSet(null));
 
 intermediateDesiredJointDataHolder.readIntoEstimator();
}

public void readControllerDataIntoEstimator()
{
 for (int i = 0; i < estimatorFeet.size(); i++)
 {
   RigidBodyBasics foot = estimatorFeet.get(i);
   estimatorCenterOfPressureDataHolder.setCenterOfPressure(centerOfPressure.get(foot.getName()), foot);
 }
 if (robotMotionStatus.get() != null)
   estimatorRobotMotionStatusHolder.setCurrentRobotMotionStatus(robotMotionStatus.getAndSet(null));
 
 intermediateDesiredJointDataHolder.readIntoEstimator();
}