How to use

us.ihmc.tools.lists.PairList

constructor

@Override
public void setLowLevelControllerCoreOutput(FullHumanoidRobotModel controllerRobotModel,
                      JointDesiredOutputList lowLevelControllerCoreOutput,
                      RawJointSensorDataHolderMap rawJointSensorDataHolderMap)
{
 if (drcOutputWriter != null)
 {
   drcOutputWriter.setLowLevelControllerCoreOutput(controllerRobotModel, lowLevelControllerCoreOutput, rawJointSensorDataHolderMap);
 }
 torqueOffsetList = new PairList<>();
 torqueOffsetMap = new HashMap<>();
 for (int i = 0; i < lowLevelControllerCoreOutput.getNumberOfJointsWithDesiredOutput(); i++)
 {
   JointDesiredOutputBasics jointData = lowLevelControllerCoreOutput.getJointDesiredOutput(i);
   final YoDouble torqueOffset = new YoDouble("tauOffset_" + lowLevelControllerCoreOutput.getJointName(i), registry);
   torqueOffsetList.add(jointData, torqueOffset);
   torqueOffsetMap.put(lowLevelControllerCoreOutput.getOneDoFJoint(i), torqueOffset);
 }
}

jointStateAndData = new PairList<>();