@Override public void set(ChestHybridJointspaceTaskspaceTrajectoryCommand other) { taskspaceTrajectoryCommand.set(other.getTaskspaceTrajectoryCommand()); jointspaceTrajectoryCommand.set(other.getJointspaceTrajectoryCommand()); }
@Override public void set(HandHybridJointspaceTaskspaceTrajectoryCommand other) { robotSide = other.robotSide; taskspaceTrajectoryCommand.set(other.getTaskspaceTrajectoryCommand()); jointspaceTrajectoryCommand.set(other.getJointspaceTrajectoryCommand()); }
@Override public void set(HandLoadBearingCommand other) { loadBearingCommand.set(other.loadBearingCommand); robotSide = other.robotSide; executionDelayTime = other.getExecutionDelayTime(); useJointspaceCommand = other.isUseJointspaceCommand(); jointspaceTrajectory.set(other.getJointspaceTrajectory()); }
@Override public void set(WholeBodyTrajectoryCommand other) { for (RobotSide robotSide : RobotSide.values) { handTrajectoryControllerCommands.get(robotSide).set(other.handTrajectoryControllerCommands.get(robotSide)); armTrajectoryControllerCommands.get(robotSide).set(other.armTrajectoryControllerCommands.get(robotSide)); footTrajectoryControllerCommands.get(robotSide).set(other.footTrajectoryControllerCommands.get(robotSide)); } chestTrajectoryControllerCommand.set(other.chestTrajectoryControllerCommand); pelvisTrajectoryControllerCommand.set(other.pelvisTrajectoryControllerCommand); }
@Override public void set(FootTrajectoryCommand other) { se3Trajectory.set(other.se3Trajectory); setPropertiesOnly(other); }
@Override public void set(HandTrajectoryCommand other) { super.set(other); setPropertiesOnly(other); }
public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, SE3TrajectoryControllerCommand taskspaceTrajectoryCommand, JointspaceTrajectoryCommand jointspaceTrajectoryCommand) { this.robotSide = robotSide; this.jointspaceTrajectoryCommand.set(jointspaceTrajectoryCommand); this.taskspaceTrajectoryCommand.set(taskspaceTrajectoryCommand); }
@Override public void set(HeadHybridJointspaceTaskspaceTrajectoryCommand other) { taskspaceTrajectoryCommand.set(other.getTaskspaceTrajectoryCommand()); jointspaceTrajectoryCommand.set(other.getJointspaceTrajectoryCommand()); }
public HandTrajectoryCommand() { se3Trajectory = new SE3TrajectoryControllerCommand(); wrenchTrajectory = new WrenchTrajectoryControllerCommand(); }
@Override public void set(PelvisOrientationTrajectoryCommand other) { setEnableUserPelvisControlDuringWalking(other.isEnableUserPelvisControlDuringWalking()); so3Trajectory.set(other.so3Trajectory); }
@Override public void setExecutionTime(double adjustedExecutionTime) { se3Trajectory.setExecutionTime(adjustedExecutionTime); wrenchTrajectory.setExecutionTime(adjustedExecutionTime); }
@Override public boolean isCommandValid() { return jointspaceTrajectoryCommand.isCommandValid() && taskspaceTrajectoryCommand.isCommandValid(); }
public ChestHybridJointspaceTaskspaceTrajectoryCommand(SO3TrajectoryControllerCommand taskspaceTrajectoryCommand, JointspaceTrajectoryCommand jointspaceTrajectoryCommand) { super(); this.jointspaceTrajectoryCommand.set(jointspaceTrajectoryCommand); this.taskspaceTrajectoryCommand.set(taskspaceTrajectoryCommand); }
@Override public void set(SoleTrajectoryCommand other) { positionTrajectory.set(other.positionTrajectory); setPropertiesOnly(other); }
@Override public boolean epsilonEquals(HandTrajectoryCommand other, double epsilon) { return robotSide == other.robotSide && se3Trajectory.epsilonEquals(other.se3Trajectory, epsilon) && wrenchTrajectory.epsilonEquals(other.wrenchTrajectory, epsilon); }
@Override public void set(FootTrajectoryCommand other) { super.set(other); setPropertiesOnly(other); }