@Override public HighLevelBehavior createHighLevelBehavior(HighLevelControlManagerFactory variousWalkingManagers, HighLevelHumanoidControllerToolbox momentumBasedController) { controller = new DiagnosticsWhenHangingController(humanoidJointPoseList, useArms, robotIsHanging, momentumBasedController, this.torqueOffsetPrinter); controller.addUpdatables(updatables); if (jointTorqueOffsetProcessor != null) controller.attachjointTorqueOffsetProcessor(jointTorqueOffsetProcessor); return controller; }
@Override public HighLevelBehavior createHighLevelBehavior(HighLevelControlManagerFactory variousWalkingManagers, HighLevelHumanoidControllerToolbox highLevelControllerToolbox) { jointTorqueOffsetEstimatorController = new JointTorqueOffsetEstimatorController(highLevelControllerToolbox, torqueOffsetPrinter); return jointTorqueOffsetEstimatorController; }
@Override public void doAction() { doControl(); }
@Override public void actionPerformed(ActionEvent e) { // analyzer.updateCorruptorAndAnalyzeDataInBuffer(); analyzer.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); } }
public void updateDataAndComputeTorqueOffsetsBasedOnAverages(boolean computeTorqueOffsetsBasedOnAverages) { updateCorruptorAndAnalyzeDataInBuffer(); if (computeTorqueOffsetsBasedOnAverages) { computeTorqueOffsetsBasedOnAverages(); updateCorruptorAndAnalyzeDataInBuffer(); } }
@Override public void processData() { analyzer.copyMeasuredTorqueToAppliedTorque(); }
public double[] getSpineJointAngles() { return spinePose.getSpineJointAngles(); } }
@Override public void doAction() { doControl(); }
@Override public void onExit() { humanoidJointPoseList.next(); }
@Override public String getDescription() { return getName(); } }
@Override public void doTransitionIntoAction() { initialize(); }
@Override public void onEntry() { jointTorqueOffsetEstimatorController.estimateTorqueOffset(true); }
@Override public void doAction(double timeInState) { doControl(); }
@Override public void onEntry() { initialize(); }
public void attachJointTorqueOffsetProcessor(JointTorqueOffsetProcessor jointTorqueOffsetProcessor) { if (controller != null) controller.attachjointTorqueOffsetProcessor(jointTorqueOffsetProcessor); else this.jointTorqueOffsetProcessor = jointTorqueOffsetProcessor; }
@Override public boolean isDone(double timeInState) { return splinesAreFinished(timeInState); } }
@Override public void actionPerformed(ActionEvent e) { // analyzer.updateCorruptorAndAnalyzeDataInBuffer(); analyzer.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); } }
public void updateDataAndComputeTorqueOffsetsBasedOnAverages(boolean computeTorqueOffsetsBasedOnAverages) { updateCorruptorAndAnalyzeDataInBuffer(); if (computeTorqueOffsetsBasedOnAverages) { computeTorqueOffsetsBasedOnAverages(); updateCorruptorAndAnalyzeDataInBuffer(); } }
@Override public void processData() { analyzer.copyMeasuredTorqueToAppliedTorque(); }
@Override public void actionPerformed(ActionEvent e) { // analyzer.updateCorruptorAndAnalyzeDataInBuffer(); analyzer.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); } }