private void createRegisteredControllers() {
for (int i = 0; i < highLevelBehaviorFactories.size(); i++) {
HighLevelBehaviorFactory highLevelBehaviorFactory = highLevelBehaviorFactories.get(i);
HighLevelBehavior highLevelBehavior =
highLevelBehaviorFactory.createHighLevelBehavior(managerFactory, momentumBasedController);
boolean transitionRequested = highLevelBehaviorFactory.isTransitionToBehaviorRequested();
highLevelHumanoidControllerManager.addHighLevelBehavior(
highLevelBehavior, transitionRequested);
}
}
public void addHighLevelBehaviorFactory(HighLevelBehaviorFactory highLevelBehaviorFactory) {
if (momentumBasedController == null) {
highLevelBehaviorFactories.add(highLevelBehaviorFactory);
} else {
HighLevelBehavior highLevelBehavior =
highLevelBehaviorFactory.createHighLevelBehavior(managerFactory, momentumBasedController);
boolean transitionToBehaviorRequested =
highLevelBehaviorFactory.isTransitionToBehaviorRequested();
highLevelHumanoidControllerManager.addHighLevelBehavior(
highLevelBehavior, transitionToBehaviorRequested);
}
}