private static IMUDefinition findIMUDefinition(String imuName, DiagnosticControllerToolbox toolbox) { IMUDefinition imuDefinition = null; IMUDefinition[] imuDefinitions = toolbox.getFullRobotModel().getIMUDefinitions(); for (int i = 0; i < imuDefinitions.length; i++) { if (imuDefinitions[i].getName().equals(imuName)) imuDefinition = imuDefinitions[i]; } if (imuDefinition == null) throw new RuntimeException("Could not find the IMUDefinition for the imu: " + imuName); return imuDefinition; }
private static IMUDefinition findIMUDefinition(String imuName, DiagnosticControllerToolbox toolbox) { IMUDefinition imuDefinition = null; IMUDefinition[] imuDefinitions = toolbox.getFullRobotModel().getIMUDefinitions(); for (int i = 0; i < imuDefinitions.length; i++) { if (imuDefinitions[i].getName().equals(imuName)) imuDefinition = imuDefinitions[i]; } if (imuDefinition == null) throw new RuntimeException("Could not find the IMUDefinition for the imu: " + imuName); return imuDefinition; }
public void addJointCheckUpDiagnostic() FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames(); List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();
public void addJointCheckUpDiagnostic() FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames(); List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();
public void addJointCheckUpDiagnostic() FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); RobotSpecificJointNames robotSpecificJointNames = fullRobotModel.getRobotSpecificJointNames(); List<String> jointsToIgnore = toolbox.getDiagnosticParameters().getJointsToIgnoreDuringDiagnostic();
public PelvisIMUCheckUpDiagnosticTask(IMUDefinition imuToCheck, DiagnosticControllerToolbox toolbox) FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); RigidBodyBasics pelvis = fullRobotModel.getPelvis(); if (imuToCheck.getRigidBody() != pelvis)
public PelvisIMUCheckUpDiagnosticTask(IMUDefinition imuToCheck, DiagnosticControllerToolbox toolbox) FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); RigidBody pelvis = fullRobotModel.getPelvis(); if (imuToCheck.getRigidBody() != pelvis)
FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); DiagnosticParameters diagnosticParameters = toolbox.getDiagnosticParameters();
FullHumanoidRobotModel fullRobotModel = toolbox.getFullRobotModel(); JointDesiredOutputList lowLevelOutput = toolbox.getLowLevelOutput(); DiagnosticParameters diagnosticParameters = toolbox.getDiagnosticParameters();