How to use

getName

method

in

us.ihmc.simulationconstructionset.simulatedSensors.WrenchCalculatorInterface

private LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> generateForceSensorDefinitions(
   ArrayList<WrenchCalculatorInterface> groundContactPointBasedWrenchCalculators)
{
 LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> forceSensorDefinitions = new LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition>();
 for (WrenchCalculatorInterface groundContactPointBasedWrenchCalculator : groundContactPointBasedWrenchCalculators)
 {
   Joint forceTorqueSensorJoint = groundContactPointBasedWrenchCalculator.getJoint();
   OneDoFJointBasics sensorParentJoint;
   if (forceTorqueSensorJoint instanceof OneDegreeOfFreedomJoint)
    sensorParentJoint = scsToInverseDynamicsJointMap.getInverseDynamicsOneDoFJoint((OneDegreeOfFreedomJoint) forceTorqueSensorJoint);
   else
    throw new RuntimeException("Force sensor is only supported for OneDegreeOfFreedomJoint.");
   RigidBodyTransform transformFromSensorToParentJoint = new RigidBodyTransform();
   groundContactPointBasedWrenchCalculator.getTransformToParentJoint(transformFromSensorToParentJoint);
   ForceSensorDefinition sensorDefinition = new ForceSensorDefinition(groundContactPointBasedWrenchCalculator.getName(), sensorParentJoint.getSuccessor(), transformFromSensorToParentJoint);
   forceSensorDefinitions.put(groundContactPointBasedWrenchCalculator, sensorDefinition);
 }
 return forceSensorDefinitions;
}

private LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> generateForceSensorDefinitions(
   ArrayList<WrenchCalculatorInterface> groundContactPointBasedWrenchCalculators)
{
 LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition> forceSensorDefinitions = new LinkedHashMap<WrenchCalculatorInterface, ForceSensorDefinition>();
 for (WrenchCalculatorInterface groundContactPointBasedWrenchCalculator : groundContactPointBasedWrenchCalculators)
 {
   OneDegreeOfFreedomJoint forceTorqueSensorJoint = groundContactPointBasedWrenchCalculator.getJoint();
   OneDoFJoint sensorParentJoint = scsToInverseDynamicsJointMap.getInverseDynamicsOneDoFJoint(forceTorqueSensorJoint);
   RigidBodyTransform transformFromSensorToParentJoint = new RigidBodyTransform();
   groundContactPointBasedWrenchCalculator.getTransformToParentJoint(transformFromSensorToParentJoint);
   ForceSensorDefinition sensorDefinition = new ForceSensorDefinition(groundContactPointBasedWrenchCalculator.getName(), sensorParentJoint.getSuccessor(), transformFromSensorToParentJoint);
   forceSensorDefinitions.put(groundContactPointBasedWrenchCalculator, sensorDefinition);
 }
 return forceSensorDefinitions;
}

public ForceSensorHysteresisCreator(double totalRobotMass, String parentJointName, WrenchCalculatorInterface wrenchCalculatorInterface)
{
 super(wrenchCalculatorInterface.getName() + "HysteresisCreator");
 
 this.wrenchCalculatorInterface = wrenchCalculatorInterface;
 this.wrenchCalculatorInterface.setDoWrenchCorruption(true);
 this.totalRobotWeightInNewtons = totalRobotMass * 9.81;
 this.normalForceThreshold = totalRobotWeightInNewtons * PERCENT_OF_FULL_WEIGHT_TO_TRIGGER_HYSTERESIS/100;
 
 hysteresisInZDirection = new YoDouble(parentJointName + "ForceSensorZHysteresis", registry);
 hysteresisInZDirection.set(0);
 
 this.isForcePastThresholdFiltered = new GlitchFilteredYoBoolean(parentJointName + "ForceSensorZHysteresisIsForcePastThreshold", registry, ITERS_BEFORE_HYSTERESIS_TRIGGERS);
}

public ArrayList<RobotController> getFootForceSensorHysteresisCreators()
{
 SideDependentList<ArrayList<WrenchCalculatorInterface>> footForceSensors = new SideDependentList<ArrayList<WrenchCalculatorInterface>>();
 packFootForceSensors(footForceSensors);
 ArrayList<RobotController> footForceSensorSignalCorruptors = new ArrayList<RobotController>();
 for (RobotSide robotSide : RobotSide.values)
 {
   for (int i = 0; i < footForceSensors.get(robotSide).size(); i++)
   {
    ForceSensorHysteresisCreator forceSensorSignalCorruptor = new ForceSensorHysteresisCreator(sdfRobot.computeCenterOfMass(new Point3D()),
                                                  footForceSensors.get(robotSide).get(i).getName(),
                                                  footForceSensors.get(robotSide).get(i));
    footForceSensorSignalCorruptors.add(forceSensorSignalCorruptor);
   }
 }
 return footForceSensorSignalCorruptors;
}