public TaskspaceHandControlState( String namePrefix, HandControlState stateEnum, MomentumBasedController momentumBasedController, int jacobianId, RigidBody base, RigidBody endEffector, YoVariableRegistry parentRegistry) { super(stateEnum); name = namePrefix + FormattingTools.underscoredToCamelCase(this.getStateEnum().toString(), true) + "State"; registry = new YoVariableRegistry(name); taskspaceConstraintData.set(base, endEffector); this.momentumBasedController = momentumBasedController; this.jacobianId = jacobianId; this.base = base; this.endEffector = endEffector; parentRegistry.addChild(registry); }
protected void submitDesiredAcceleration(SpatialAccelerationVector handAcceleration) { taskspaceConstraintData.set(handAcceleration); momentumBasedController.setDesiredSpatialAcceleration(jacobianId, taskspaceConstraintData); }
protected void setEndEffector(RigidBody newEndEffector) { this.endEffector = newEndEffector; taskspaceConstraintData.set(base, endEffector); }
protected void setBase(RigidBody newBase) { this.base = newBase; taskspaceConstraintData.set(base, endEffector); }