private TrajectoryColorType getCurrentColorType() { return TrajectoryColorType.values[currentColorType.getOrdinal()]; }
private TrajectoryGraphicType getCurrentGraphicType() { return TrajectoryGraphicType.values[currentGraphicType.getOrdinal()]; }
@Override public void notifyOfVariableChange(YoVariable<?> v) { try { int currentIndex = requestControlModeComboBox.getSelectedIndex(); int newIndex = fromEnumOrdinalToComboBoxIndexMap.get(requestHighLevelControlMode.getOrdinal()); if (currentIndex != newIndex) requestControlModeComboBox.setSelectedIndex(newIndex); } catch (NullPointerException e) { } } });
@Override public void actionPerformed(ActionEvent e) { int newOrdinal = fromComboBoxIndexToEnumOrdinalMap.get(requestControlModeComboBox.getSelectedIndex()); int currentOrdinal = requestHighLevelControlMode.getOrdinal(); if (newOrdinal != currentOrdinal) { requestHighLevelControlMode.set(newOrdinal); } } });
private void updateListeners(final YoEnum<?> yoEnum) { T enumValue = enumValues[yoEnum.getOrdinal()]; for (Joystick joystick : joysticks) { joystick.clearEventListeners(); if(joystickEventListeners.containsKey(enumValue)) { for(JoystickEventListener eventListener : joystickEventListeners.get(enumValue)) { joystick.addJoystickEventListener(eventListener); } } } if (sliderBoardConfigurationManager != null && sliderBoardConfigurations.containsKey(enumValue)) { sliderBoardConfigurations.get(enumValue).activateConfiguration(sliderBoardConfigurationManager); } } }
@Override public void notifyOfVariableChange(YoVariable<?> v) ValkyrieSliderBoardJointHolder selected = jointHolders.get(selectedJoint.getOrdinal()); qDesiredSelected.set(selected.q_d.getDoubleValue()); qdDesiredSelected.set(selected.qd_d.getDoubleValue()); if (previousSelectedJoint.getOrdinal() != YoEnum.NULL_VALUE) jointHolders.get(previousSelectedJoint.getOrdinal()).jointCommand_function.set(0.0); if (RESET_FUNCTIONS_ON_JOINT_CHANGE || selectedJoint.getOrdinal() != secondaryJoint.getOrdinal() || previousSelectedJoint.getOrdinal() != YoEnum.NULL_VALUE) secondaryJoint.set(previousSelectedJoint.getOrdinal()); double previousAmplitude = selectedFunctionGenerator.getAmplitude(); double previousFrequency = selectedFunctionGenerator.getFrequency(); previousSelectedJoint.set(selectedJoint.getOrdinal());
ValkyrieSliderBoardJointHolder selected = jointHolders.get(selectedJoint.getOrdinal()); selected.q_d.set(MathTools.clamp(qDesiredSelected.getDoubleValue(), selected.joint.getJointLimitLower(), selected.joint.getJointLimitUpper())); selected.qd_d.set(qdDesiredSelected.getDoubleValue()); selected.tau_offset.set(tauOffsetSelected.getDoubleValue()); if (secondaryJoint.getOrdinal() != YoEnum.NULL_VALUE) ValkyrieSliderBoardJointHolder secondary = jointHolders.get(secondaryJoint.getOrdinal()); if (secondaryJoint.getOrdinal() != selectedJoint.getOrdinal()) secondary.jointCommand_function.set(secondaryFunctionGenerator.getValue()); tauFunctionSecondary.set(secondary.jointCommand_function.getDoubleValue());