public void setPrivilegedConfigurationOption(PrivilegedConfigurationOption option) { enable(); this.defaultOption = option; }
@Override public void set(InverseKinematicsCommandList other) { clear(); for (int i = 0; i < other.getNumberOfCommands(); i++) addCommand(other.getCommand(i)); }
/** * Adds command to be considered by the inverse kinematics controller core. * @param inverseKinematicsCommand command to add to the list */ public void addInverseKinematicsCommand(InverseKinematicsCommand<?> inverseKinematicsCommand) { if (inverseKinematicsCommand != null) inverseKinematicsCommandList.addCommand(inverseKinematicsCommand); }
private void copySpatialVelocityCommand(SpatialVelocityCommand commandToCopy) { SpatialVelocityCommand localCommand = spatialVelocityCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }
private void copyMomentumCommand(MomentumCommand commandToCopy) { MomentumCommand localCommand = momentumCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }
private void copyJointspaceVelocityCommand(JointspaceVelocityCommand commandToCopy) { JointspaceVelocityCommand localCommand = jointspaceVelocityCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }
public void set(RigidBody base, RigidBody endEffector) { setBase(base); setEndEffector(endEffector); }
public MomentumCommand(MomentumCommand momentumCommand) { this(); set(momentumCommand); }
public void removeWeight() { setWeight(HARD_CONSTRAINT); }
public InverseKinematicsCommand<?> pollCommand() { if (commandList.isEmpty()) return null; else return commandList.remove(getNumberOfCommands() - 1); }
public void retrieveJointsFromName(Map<String, OneDoFJointBasics> nameToJointMap) { for (int i = 0; i < jointspaceVelocityCommands.size(); i++) { JointspaceVelocityCommand command = jointspaceVelocityCommands.get(i); command.retrieveJointsFromName(nameToJointMap); } }
public void removeWeight() { setWeight(HARD_CONSTRAINT); }
public boolean hasNewPrivilegedConfigurationOption(int jointIndex) { return getPrivilegedConfigurationOption(jointIndex) != null; }
public void setWeight(double weight) { setWeights(weight, weight); }
public JointspaceVelocityCommand() { clear(); }
public SpatialVelocityCommand() { removeWeight(); }
public void set(Twist spatialVelocity, DenseMatrix64F selectionMatrix) { this.spatialVelocity.set(spatialVelocity); setSelectionMatrix(selectionMatrix); }
private void copySpatialVelocityCommand(SpatialVelocityCommand commandToCopy) { SpatialVelocityCommand localCommand = spatialVelocityCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }
private void copyMomentumCommand(MomentumCommand commandToCopy) { MomentumCommand localCommand = momentumCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }
private void copyJointspaceVelocityCommand(JointspaceVelocityCommand commandToCopy) { JointspaceVelocityCommand localCommand = jointspaceVelocityCommands.add(); localCommand.set(commandToCopy); inverseKinematicsCommandList.addCommand(localCommand); }