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- Adding HumanoidRobotMPCContextData and its factory
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78 changes: 78 additions & 0 deletions
78
...hmc/commonWalkingControlModules/barrierScheduler/context/HumanoidRobotMPCContextData.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| package us.ihmc.commonWalkingControlModules.barrierScheduler.context; | ||
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| import us.ihmc.commonWalkingControlModules.controllerCore.command.lowLevel.LowLevelOneDoFJointDesiredDataHolder; | ||
| import us.ihmc.humanoidRobotics.model.CenterOfPressureDataHolder; | ||
| import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; | ||
| import us.ihmc.robotModels.FullHumanoidRobotModel; | ||
| import us.ihmc.robotics.sensors.CenterOfMassDataHolder; | ||
| import us.ihmc.robotics.sensors.ForceSensorDataHolder; | ||
| import us.ihmc.sensorProcessing.model.RobotMotionStatusHolder; | ||
| import us.ihmc.sensorProcessing.simulatedSensors.SensorDataContext; | ||
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| import java.util.List; | ||
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| /** | ||
| * @author Doug Stephen <a href="mailto:[email protected]">([email protected])</a> | ||
| */ | ||
| @SuppressWarnings("serial") | ||
| public class HumanoidRobotMPCContextData extends HumanoidRobotContextData | ||
| { | ||
| public HumanoidRobotMPCContextData() | ||
| { | ||
| super(); | ||
| } | ||
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| public HumanoidRobotMPCContextData(HumanoidRobotContextJointData processedJointData, | ||
| ForceSensorDataHolder forceSensorDataHolder, | ||
| CenterOfMassDataHolder centerOfMassDataHolder, | ||
| CenterOfPressureDataHolder centerOfPressureDataHolder, | ||
| RobotMotionStatusHolder robotMotionStatusHolder, | ||
| LowLevelOneDoFJointDesiredDataHolder jointDesiredOutputList, | ||
| SensorDataContext sensorDataContext) | ||
| { | ||
| super(processedJointData, | ||
| forceSensorDataHolder, | ||
| centerOfMassDataHolder, | ||
| centerOfPressureDataHolder, | ||
| robotMotionStatusHolder, | ||
| jointDesiredOutputList, | ||
| sensorDataContext); | ||
| } | ||
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| public HumanoidRobotMPCContextData(FullHumanoidRobotModel fullRobotModel) | ||
| { | ||
| super(fullRobotModel); | ||
| } | ||
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| public HumanoidRobotMPCContextData(List<OneDoFJointBasics> joints) | ||
| { | ||
| super(joints); | ||
| } | ||
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| public void set(HumanoidRobotMPCContextData other) | ||
| { | ||
| copyFrom(other); | ||
| } | ||
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| public void copyFrom(HumanoidRobotMPCContextData src) | ||
| { | ||
| super.copyFrom(src); | ||
| } | ||
| public boolean equals(Object obj) | ||
| { | ||
| if(obj == this) | ||
| { | ||
| return true; | ||
| } | ||
| else if(obj instanceof HumanoidRobotMPCContextData) | ||
| { | ||
| HumanoidRobotMPCContextData other = (HumanoidRobotMPCContextData) obj; | ||
| return super.equals(other); | ||
| } | ||
| else | ||
| { | ||
| return false; | ||
| } | ||
| } | ||
| } |
19 changes: 19 additions & 0 deletions
19
...monWalkingControlModules/barrierScheduler/context/HumanoidRobotMPCContextDataFactory.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| package us.ihmc.commonWalkingControlModules.barrierScheduler.context; | ||
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| import us.ihmc.tools.factories.FactoryTools; | ||
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| public class HumanoidRobotMPCContextDataFactory extends HumanoidRobotContextDataFactory | ||
| { | ||
| public HumanoidRobotMPCContextData createHumanoidRobotMPCContextData() | ||
| { | ||
| FactoryTools.checkAllFactoryFieldsAreSet(this); | ||
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| return new HumanoidRobotMPCContextData(processedJointData.get(), | ||
| forceSensorDataHolder.get(), | ||
| centerOfMassDataHolder.get(), | ||
| centerOfPressureDataHolder.get(), | ||
| robotMotionStatusHolder.get(), | ||
| jointDesiredOutputList.get(), | ||
| sensorDataContext.get()); | ||
| } | ||
| } |