public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace, String tfPrefix, Collection<Class> additionalPacketTypes, String... additionalMessagePackages) throws IOException { this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, additionalPacketTypes, additionalMessagePackages); }
public StepprSensorReaderFactory(DRCRobotModel robotModel) { sensorInformation = robotModel.getSensorInformation(); stateEstimatorParameters = robotModel.getStateEstimatorParameters(); }
@Override public double getEstimatorDT() { return robotModel.getEstimatorDT(); }
private void setupSimulatedRobotTimeProvider() { simulatedRobotTimeProvider = new SimulatedDRCRobotTimeProvider(robotModel.get().getSimulateDT()); humanoidFloatingRootJointRobot.setController(simulatedRobotTimeProvider); }
public void setRobotInitialSetup(double groundHeight, double initialYaw) { robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw); }
protected double getForceDelay1() { return 0.5 * robotModel.getWalkingControllerParameters().getDefaultSwingTime(); }
public void doControl() { increment(nanoSecondsPerTick); }
public void initialize() { set(0); }
public String getDescription() { return getName(); }
public WandererSensorReaderFactory(DRCRobotModel robotModel, CostOfTransportCalculator costOfTransportCalculator) { sensorInformation = robotModel.getSensorInformation(); stateEstimatorParameters = robotModel.getStateEstimatorParameters(); this.costOfTransportCalculator = costOfTransportCalculator; }
private void setupSimulatedRobotTimeProvider() { simulatedRobotTimeProvider = new SimulatedDRCRobotTimeProvider(robotModel.get().getSimulateDT()); humanoidFloatingRootJointRobot.setController(simulatedRobotTimeProvider); }
public void setRobotInitialSetup(double groundHeight, double initialYaw) { robotInitialSetup = robotModel.getDefaultRobotInitialSetup(groundHeight, initialYaw); }
protected double getForceDelay1() { return 0.5 * robotModel.getWalkingControllerParameters().getDefaultSwingTime(); }
public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace, String tfPrefix, Collection<Class> additionalPacketTypes, String... additionalMessagePackages) throws IOException { this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, additionalPacketTypes, additionalMessagePackages); }
public void doControl() { increment(nanoSecondsPerTick); }
public void initialize() { set(0); }
public String getDescription() { return getName(); }
protected double getForceDelay2() { return 2.5 * robotModel.getWalkingControllerParameters().getDefaultSwingTime(); }
public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace, String tfPrefix, String... additionalMessagePackages) throws IOException { this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, Collections.<Class>emptySet(), additionalMessagePackages); }
public ThePeoplesGloriousNetworkProcessor(URI rosUri, PacketCommunicator controllerCommunicationBridge, DRCRobotModel robotModel, String namespace, String tfPrefix, String... additionalMessagePackages) throws IOException { this(rosUri, controllerCommunicationBridge, null, robotModel.getPPSTimestampOffsetProvider(), robotModel, namespace, tfPrefix, Collections.<Class>emptySet(), additionalMessagePackages); }