Java FullRobotModel Examples

Example #1

File: FullRobotModelRootJointRewinder.java Project: wxmerkt/ihmc-open-robotics-software

  @Override
  public void wasRewound() {
    SixDoFJoint rootJoint = fullRobotModel.getRootJoint();

    yoRootJointTranslation.get(rootJointTranslation);
    rootJoint.setPosition(rootJointTranslation);

    yoRootJointRotation.get(rootJointRotation);
    rootJoint.setRotation(rootJointRotation);
  }

Example #2

File: FullRobotModelRootJointRewinder.java Project: wxmerkt/ihmc-open-robotics-software

  public void recordCurrentState() {
    SixDoFJoint rootJoint = fullRobotModel.getRootJoint();
    SixDoFJointReferenceFrame rootJointFrame = rootJoint.getFrameAfterJoint();

    rootJointFrame.getTraslation(rootJointTranslation);
    rootJointFrame.getRotation(rootJointRotation);

    yoRootJointTranslation.set(rootJointTranslation);
    yoRootJointRotation.set(rootJointRotation);
  }