public void getPosition(Tuple3DBasics positionToPack) { getFloatingJoint().getPosition(positionToPack); } }
private void checkFootCheckPoints() { humanoidRobotModel.getRootJoint().getPosition(position); if (footStepCheckPointIndex < footCheckPoint.size() && footCheckPoint.get(footStepCheckPointIndex).isInsideInclusive(position)) { footCheckPointFlag.get(footStepCheckPointIndex).set(true); if (footStepCheckPointIndex < footCheckPoint.size()) footStepCheckPointIndex++; } }
private void checkFootCheckPoints() { humanoidRobotModel.getRootJoint().getPosition(position); if (footStepCheckPointIndex < footCheckPoint.size() && footCheckPoint.get(footStepCheckPointIndex).isInsideInclusive(position)) { footCheckPointFlag.get(footStepCheckPointIndex).set(true); if (footStepCheckPointIndex < footCheckPoint.size()) footStepCheckPointIndex++; } }
@Override public void updated(long timestamp) { System.out.print(timestamp + ": "); Point3D position = new Point3D(); origin.getPosition(position); System.out.println("pos: " + position.getX() + " " + position.getY() + " " + position.getZ() + " - {"); for(OneDegreeOfFreedomJoint joint : joints) { System.out.print(joint.getQYoVariable().getDoubleValue() + ","); } System.out.println("}. height: " + desiredCoMHeight.getDoubleValue()); }
@Override public void updated(long timestamp) { System.out.print(timestamp + ": "); Point3d position = new Point3d(); origin.getPosition(position); System.out.println("pos: " + position.getX() + " " + position.getY() + " " + position.getZ() + " - {"); for(OneDegreeOfFreedomJoint joint : joints) { System.out.print(joint.getQYoVariable().getDoubleValue() + ","); } System.out.println("}. height: " + desiredCoMHeight.getDoubleValue()); }
@Override public void updated(long timestamp) { System.out.print(timestamp + ": "); Point3d position = new Point3d(); origin.getPosition(position); System.out.println("pos: " + position.getX() + " " + position.getY() + " " + position.getZ() + " - {"); for(OneDegreeOfFreedomJoint joint : joints) { System.out.print(joint.getQYoVariable().getDoubleValue() + ","); } System.out.println("}. height: " + desiredCoMHeight.getDoubleValue()); }
public static void assertRobotsRootJointIsInBoundingBox(BoundingBox3D boundingBox, HumanoidFloatingRootJointRobot robot) { Point3D position = new Point3D(); robot.getRootJoint().getPosition(position); boolean inside = boundingBox.isInsideInclusive(position); if (!inside) { fail("Joint was at " + position + ". Expecting it to be inside boundingBox " + boundingBox); } }
pelvisJoint.getPosition(pelvisPosition);
rootJoint.getPosition(rootJointPosition);
drcSimulationTestHelper.getRobot().getRootJoint().getPosition(rootPositionAtStart);