conflict_resolution
stringlengths 27
16k
|
|---|
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.ICPControlPolygons;
>>>>>>>
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.ICPControlPolygons;
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
public void compute(double currentTime, FramePoint2D desiredICP, FrameVector2D desiredICPVelocity, FramePoint2D currentICP, double omega0)
=======
public void compute(double currentTime, FramePoint2d desiredICP, FrameVector2d desiredICPVelocity, FramePoint2d perfectCMP, FramePoint2d currentICP, double omega0)
>>>>>>>
public void compute(double currentTime, FramePoint2D desiredICP, FrameVector2D desiredICPVelocity, FramePoint2D perfectCMP, FramePoint2D currentICP, double omega0) |
<<<<<<<
import static com.google.common.base.Preconditions.checkArgument;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import org.apache.accumulo.core.Constants;
import org.apache.accumulo.core.client.AccumuloException;
import org.apache.accumulo.core.client.AccumuloSecurityException;
=======
>>>>>>>
import static com.google.common.base.Preconditions.checkArgument;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import org.apache.accumulo.core.Constants;
import org.apache.accumulo.core.client.AccumuloException;
import org.apache.accumulo.core.client.AccumuloSecurityException;
<<<<<<<
import org.apache.accumulo.core.tabletserver.thrift.TabletClientService;
import org.apache.accumulo.core.tabletserver.thrift.TabletClientService.Client;
import org.apache.accumulo.core.util.AddressUtil;
import org.apache.accumulo.core.util.ThriftUtil;
import org.apache.accumulo.core.zookeeper.ZooUtil;
import org.apache.accumulo.fate.zookeeper.ZooCache;
import org.apache.accumulo.trace.instrument.Tracer;
import org.apache.thrift.TException;
import org.apache.thrift.transport.TTransport;
import org.apache.thrift.transport.TTransportException;
=======
import org.apache.accumulo.core.security.thrift.TCredentials;
>>>>>>>
import org.apache.accumulo.core.tabletserver.thrift.TabletClientService;
import org.apache.accumulo.core.tabletserver.thrift.TabletClientService.Client;
import org.apache.accumulo.core.util.AddressUtil;
import org.apache.accumulo.core.util.ThriftUtil;
import org.apache.accumulo.core.zookeeper.ZooUtil;
import org.apache.accumulo.fate.zookeeper.ZooCache;
import org.apache.accumulo.trace.instrument.Tracer;
import org.apache.thrift.TException;
import org.apache.thrift.transport.TTransport;
import org.apache.thrift.transport.TTransportException;
import org.apache.accumulo.core.security.thrift.TCredentials; |
<<<<<<<
private final YoBoolean areCoMDynamicsSatisfied;
=======
>>>>>>>
private final YoBoolean areCoMDynamicsSatisfied;
<<<<<<<
areCoMDynamicsSatisfied = new YoBoolean("areCoMDynamicsSatisfied", registry);
areCoMDynamicsSatisfied.set(false);
=======
>>>>>>>
areCoMDynamicsSatisfied = new YoBoolean("areCoMDynamicsSatisfied", registry);
areCoMDynamicsSatisfied.set(false);
<<<<<<<
referenceCoPGenerator.getSwingCoPTrajectories(), angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories());
referenceCoMGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(), referenceICPGenerator.getICPPositionDesiredFinalList());
=======
referenceCoPGenerator.getSwingCoPTrajectories(),
angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(),
referenceCMPGenerator.getSwingCMPTrajectories());
referenceICPGenerator.initializeCenterOfMass();
>>>>>>>
referenceCoPGenerator.getSwingCoPTrajectories(), angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories());
referenceCoMGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(), referenceICPGenerator.getICPPositionDesiredFinalList());
<<<<<<<
referenceCMPGenerator.initializeForSwing(ZERO_TIME, referenceCoPGenerator.getTransferCoPTrajectories(),
referenceCoPGenerator.getSwingCoPTrajectories(), angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(),
referenceCMPGenerator.getSwingCMPTrajectories());
referenceCoMGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(), referenceICPGenerator.getICPPositionDesiredFinalList());
=======
referenceCMPGenerator.initializeForSwing(ZERO_TIME, referenceCoPGenerator.getTransferCoPTrajectories(), referenceCoPGenerator.getSwingCoPTrajectories(),
angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories());
referenceICPGenerator.initializeCenterOfMass();
>>>>>>>
referenceCMPGenerator.initializeForSwing(ZERO_TIME, referenceCoPGenerator.getTransferCoPTrajectories(),
referenceCoPGenerator.getSwingCoPTrajectories(), angularMomentumGenerator.getTransferAngularMomentumTrajectories(),
angularMomentumGenerator.getSwingAngularMomentumTrajectories());
referenceICPGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(),
referenceCMPGenerator.getSwingCMPTrajectories());
referenceCoMGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(), referenceICPGenerator.getICPPositionDesiredFinalList());
<<<<<<<
if (!isInStanding())
{
referenceICPGenerator.compute(timeInCurrentState);
referenceCoMGenerator.compute(timeInCurrentState);
referenceCoPGenerator.update(timeInCurrentState);
referenceCMPGenerator.update(timeInCurrentState);
angularMomentumGenerator.update(timeInCurrentState);
referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition, desiredCoPVelocity);
referenceCMPGenerator.getLinearData(desiredCMPPosition, desiredCMPVelocity);
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
referenceCoMGenerator.getLinearData(desiredCoMPosition, desiredCoMVelocity, desiredCoMAcceleration);
angularMomentumGenerator.getDesiredAngularMomentum(desiredCentroidalAngularMomentum, desiredCentroidalTorque);
}
else
{
referenceCoPGenerator.update(time);
referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition);
desiredCoPVelocity.setToZero();
desiredCMPPosition.set(desiredCoPPosition);
desiredCMPVelocity.setToZero();
desiredICPPosition.set(desiredCoPPosition);
desiredICPVelocity.setToZero();
desiredICPAcceleration.setToZero();
desiredCoMPosition.set(desiredCoPPosition);
desiredCoMVelocity.setToZero();
desiredCoMAcceleration.setToZero();
}
=======
referenceICPGenerator.compute(timeInCurrentState);
referenceCoPGenerator.update(timeInCurrentState);
referenceCMPGenerator.update(timeInCurrentState);
angularMomentumGenerator.update(timeInCurrentState);
referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition, desiredCoPVelocity);
referenceCMPGenerator.getLinearData(desiredCMPPosition, desiredCMPVelocity);
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
angularMomentumGenerator.getDesiredAngularMomentum(desiredCentroidalAngularMomentum, desiredCentroidalTorque);
referenceICPGenerator.getCoMPosition(desiredCoMPosition);
referenceICPGenerator.getCoMVelocity(desiredCoMVelocity);
referenceICPGenerator.getCoMAcceleration(desiredCoMAcceleration);
/*
* else { referenceCoPGenerator.update(time);
* referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition);
* desiredCoPVelocity.setToZero();
* desiredCMPPosition.set(desiredCoPPosition);
* desiredCMPVelocity.setToZero();
* desiredICPPosition.set(desiredCoPPosition);
* desiredICPVelocity.setToZero(); desiredICPAcceleration.setToZero();
* desiredCoMPosition.set(desiredCoPPosition);
* desiredCoMVelocity.setToZero(); desiredCoMAcceleration.setToZero(); }
*/
>>>>>>>
if (!isInStanding())
{
referenceICPGenerator.compute(timeInCurrentState);
referenceCoMGenerator.compute(timeInCurrentState);
referenceCoPGenerator.update(timeInCurrentState);
referenceCMPGenerator.update(timeInCurrentState);
angularMomentumGenerator.update(timeInCurrentState);
referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition, desiredCoPVelocity);
referenceCMPGenerator.getLinearData(desiredCMPPosition, desiredCMPVelocity);
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
referenceCoMGenerator.getLinearData(desiredCoMPosition, desiredCoMVelocity, desiredCoMAcceleration);
angularMomentumGenerator.getDesiredAngularMomentum(desiredCentroidalAngularMomentum, desiredCentroidalTorque);
}
/*
* else { referenceCoPGenerator.update(time);
* referenceCoPGenerator.getDesiredCenterOfPressure(desiredCoPPosition);
* desiredCoPVelocity.setToZero();
* desiredCMPPosition.set(desiredCoPPosition);
* desiredCMPVelocity.setToZero();
* desiredICPPosition.set(desiredCoPPosition);
* desiredICPVelocity.setToZero(); desiredICPAcceleration.setToZero();
* desiredCoMPosition.set(desiredCoPPosition);
* desiredCoMVelocity.setToZero(); desiredCoMAcceleration.setToZero(); }
*/ |
<<<<<<<
=======
public ICPOptimizationParameters getICPOptimizationParameters()
{
return null;
}
// remove: unused
public abstract SideDependentList<RigidBodyTransform> getDesiredHandPosesWithRespectToChestFrame();
// remove: unused
public abstract String[] getDefaultChestOrientationControlJointNames();
// move to UI specific parameters
public abstract double getAnkleHeight();
>>>>>>>
public ICPOptimizationParameters getICPOptimizationParameters()
{
return null;
} |
<<<<<<<
feedbackTermToPack.clipToMaxLength(gains.getMaximumProportionalError());
=======
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(gains.getMaximumProportionalError());
>>>>>>>
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(gains.getMaximumProportionalError());
<<<<<<<
feedbackTermToPack.clipToMaxLength(gains.getMaximumDerivativeError());
=======
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(gains.getMaximumDerivativeError());
>>>>>>>
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(gains.getMaximumDerivativeError());
<<<<<<<
feedbackTermToPack.clipToMaxLength(maximumIntegralError);
=======
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(maximumIntegralError);
>>>>>>>
selectionMatrix.applyAngularSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(maximumIntegralError); |
<<<<<<<
FootholdRotationParameters explorationParameters,
YoRegistry parentRegistry,
=======
FootholdRotationParameters rotationParameters,
YoVariableRegistry parentRegistry,
>>>>>>>
FootholdRotationParameters rotationParameters,
YoRegistry parentRegistry, |
<<<<<<<
=======
import us.ihmc.robotModels.FullHumanoidRobotModelFactory;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
>>>>>>>
import us.ihmc.robotModels.FullHumanoidRobotModelFactory; |
<<<<<<<
import org.apache.accumulo.core.zookeeper.ZooUtil.NodeExistsPolicy;
import org.apache.accumulo.core.zookeeper.ZooUtil.NodeMissingPolicy;
import org.apache.accumulo.server.zookeeper.IZooReaderWriter;
=======
import org.apache.accumulo.fate.zookeeper.IZooReaderWriter;
import org.apache.accumulo.fate.zookeeper.ZooUtil.NodeExistsPolicy;
import org.apache.accumulo.fate.zookeeper.ZooUtil.NodeMissingPolicy;
import org.apache.accumulo.server.client.HdfsZooInstance;
>>>>>>>
import org.apache.accumulo.fate.zookeeper.IZooReaderWriter;
import org.apache.accumulo.fate.zookeeper.ZooUtil.NodeExistsPolicy;
import org.apache.accumulo.fate.zookeeper.ZooUtil.NodeMissingPolicy; |
<<<<<<<
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.26, 0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(copPointName.BALL_COP))
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.36, 0.180), EPSILON));
=======
assertTrue(copList.get(2).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.26, 0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.BALL_COP))
assertTrue(copList.get(2).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.36, 0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.TOE_COP))
assertTrue(copList.get(2).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.36, 0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.MIDFEET_COP))
assertTrue(copList.get(2).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.450, 0.000), EPSILON));
>>>>>>>
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.26, 0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.BALL_COP))
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.36, 0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.TOE_COP))
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.36, 0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.MIDFEET_COP))
assertTrue(copList.get(2).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.450, 0.000), EPSILON));
<<<<<<<
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.56, -0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(copPointName.BALL_COP))
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.66, -0.180), EPSILON));
=======
assertTrue(copList.get(3).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.56, -0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.BALL_COP))
assertTrue(copList.get(3).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.66, -0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.TOE_COP))
assertTrue(copList.get(3).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.66, -0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.MIDFEET_COP))
assertTrue(copList.get(3).get(copPointName).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.750, 0.000), EPSILON));
>>>>>>>
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.56, -0.205), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.BALL_COP))
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.66, -0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.TOE_COP))
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.66, -0.180), EPSILON));
else if(copPointName.checkCoPPointMatch(CoPPointName.MIDFEET_COP))
assertTrue(copList.get(3).get(i).epsilonEquals(new FramePoint2d(ReferenceFrame.getWorldFrame(), 0.750, 0.000), EPSILON)); |
<<<<<<<
import java.util.ArrayList;
import java.util.List;
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.YoFrameTrajectory3D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
<<<<<<<
private final FramePoint3D cmpPositionToThrowAway = new FramePoint3D();
private final FrameVector3D cmpVelocityToThrowAway = new FrameVector3D();
private final FrameVector3D cmpAccelerationToThrowAway = new FrameVector3D();
=======
>>>>>>> |
<<<<<<<
FramePoint3D transferFromContactFramePosition = new FramePoint3D();
FramePoint3D transferToContactFramePosition = new FramePoint3D();
=======
>>>>>>>
<<<<<<<
FrameVector3D fromContactFrameDrift = null;
=======
boolean frameDrifted = false;
>>>>>>>
boolean frameDrifted = false;
<<<<<<<
FramePoint3D transferFromDesiredContactFramePosition = new FramePoint3D();
=======
>>>>>>>
<<<<<<<
fromContactFrameDrift = new FrameVector3D(transferFromContactFramePosition.getReferenceFrame());
=======
fromContactFrameDrift.setToZero(transferFromContactFramePosition.getReferenceFrame());
>>>>>>>
fromContactFrameDrift.setToZero(transferFromContactFramePosition.getReferenceFrame());
<<<<<<<
private void setPointXValues(FramePoint3D nextContactFramePosition)
=======
private final Point2D nextPoint2d = new Point2D();
private final Point2D projectedPoint = new Point2D();
private final Line2D line2d = new Line2D();
private void setPointXValues(FramePoint nextContactFramePosition)
>>>>>>>
private final Point2D nextPoint2d = new Point2D();
private final Point2D projectedPoint = new Point2D();
private final Line2D line2d = new Line2D();
private void setPointXValues(FramePoint3D nextContactFramePosition)
<<<<<<<
private final FramePoint3D tempFramePoint = new FramePoint3D();
private final Point2D queryPoint = new Point2D();
=======
private final FramePoint tempFramePoint = new FramePoint();
>>>>>>>
private final FramePoint3D tempFramePoint = new FramePoint3D(); |
<<<<<<<
import us.ihmc.robotics.controllers.YoPIDSE3Gains;
import us.ihmc.robotics.geometry.FramePoint2d;
=======
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
import us.ihmc.robotics.geometry.FramePoint2D;
>>>>>>>
import us.ihmc.robotics.controllers.YoPIDSE3Gains;
import us.ihmc.robotics.geometry.FramePoint2D; |
<<<<<<<
List<String> positionControlledJointNames, Collection<ReferenceFrame> controlFrames, ReferenceFrame baseFrame, DoubleYoVariable yoTime,
=======
List<String> positionControlledJointNames, Map<String, JointAccelerationIntegrationSettings> integrationSettings,
Collection<ReferenceFrame> trajectoryFrames, ReferenceFrame controlFrame, ReferenceFrame baseFrame, DoubleYoVariable yoTime,
>>>>>>>
List<String> positionControlledJointNames, Collection<ReferenceFrame> controlFrames, ReferenceFrame baseFrame, DoubleYoVariable yoTime,
<<<<<<<
taskspaceControlState = new RigidBodyTaskspaceControlState(bodyName, bodyToControl, baseBody, elevator, controlFrames, baseFrame, yoTime, registry);
=======
taskspaceControlState = new RigidBodyTaskspaceControlState(bodyToControl, baseBody, elevator, trajectoryFrames, controlFrame, baseFrame, yoTime, registry);
>>>>>>>
taskspaceControlState = new RigidBodyTaskspaceControlState(bodyName, bodyToControl, baseBody, elevator, controlFrames, baseFrame, yoTime, registry);
<<<<<<<
computeDesiredOrientation(initialOrientation);
initialOrientation.changeFrame(command.getExpressedInFrame());
=======
initialOrientation.setToZero(controlFrame);
initialOrientation.changeFrame(command.getReferenceFrame());
>>>>>>>
initialOrientation.setToZero(controlFrame);
initialOrientation.changeFrame(command.getExpressedInFrame());
<<<<<<<
computeDesiredPose(initialPose);
initialPose.changeFrame(command.getExpressedInFrame());
=======
initialPose.setToZero(controlFrame);
initialPose.changeFrame(command.getReferenceFrame());
>>>>>>>
initialPose.setToZero(controlFrame);
initialPose.changeFrame(command.getExpressedInFrame()); |
<<<<<<<
Class<? extends Constraint> clazz = loader.loadClass(className)
.asSubclass(Constraint.class);
log.debug("Loaded constraint {} for {}", clazz.getName(), conf.getTableId());
=======
Class<? extends Constraint> clazz =
loader.loadClass(className).asSubclass(Constraint.class);
log.debug("Loaded constraint " + clazz.getName() + " for " + conf.getTableId());
>>>>>>>
Class<? extends Constraint> clazz =
loader.loadClass(className).asSubclass(Constraint.class);
log.debug("Loaded constraint {} for {}", clazz.getName(), conf.getTableId()); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.transform.RigidBodyTransform;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
private final FramePoint2D footstepPositionSolution = new FramePoint2D();
private final FramePoint2D desiredCMP = new FramePoint2D();
private final FramePoint2D desiredICP = new FramePoint2D();
private final FrameVector2D desiredICPVelocity = new FrameVector2D();
private final FramePoint2D currentICP = new FramePoint2D();
=======
private final FramePoint2d footstepPositionSolution = new FramePoint2d();
private final FramePoint2d desiredCMP = new FramePoint2d();
private final FramePoint2d desiredICP = new FramePoint2d();
private final FrameVector2d desiredICPVelocity = new FrameVector2d();
private final FramePoint2d currentICP = new FramePoint2d();
private final FramePoint2d perfectCMP = new FramePoint2d();
>>>>>>>
private final FramePoint2D footstepPositionSolution = new FramePoint2D();
private final FramePoint2D desiredCMP = new FramePoint2D();
private final FramePoint2D desiredICP = new FramePoint2D();
private final FrameVector2D desiredICPVelocity = new FrameVector2D();
private final FramePoint2D currentICP = new FramePoint2D();
private final FramePoint2D perfectCMP = new FramePoint2D(); |
<<<<<<<
networkModuleParams.enableUiModule(false);
networkModuleParams.enableBehaviorModule(false);
networkModuleParams.enableSensorModule(true);
networkModuleParams.enableBehaviorVisualizer(false);
networkModuleParams.setDrillDetectionModuleEnabled(false);
=======
networkModuleParams.enableBehaviorModule(true);
networkModuleParams.enableBehaviorVisualizer(true);
networkModuleParams.enableSensorModule(true);
>>>>>>>
networkModuleParams.enableBehaviorModule(false);
networkModuleParams.enableBehaviorVisualizer(false);
networkModuleParams.enableSensorModule(true);
<<<<<<<
networkModuleParams.enableHeightQuadTreeToolbox(false);
networkModuleParams.enableKinematicsToolboxVisualizer(false);
=======
networkModuleParams.enableHeightQuadTreeToolbox(true);
>>>>>>>
networkModuleParams.enableHeightQuadTreeToolbox(false);
<<<<<<<
networkModuleParams.enableKinematicsToolboxVisualizer(false);
=======
>>>>>>> |
<<<<<<<
TKeyValue _elem18; // required
_elem18 = new TKeyValue();
_elem18.read(iprot);
struct.results.add(_elem18);
=======
TKeyValue _elem10;
_elem10 = new TKeyValue();
_elem10.read(iprot);
struct.results.add(_elem10);
>>>>>>>
TKeyValue _elem18;
_elem18 = new TKeyValue();
_elem18.read(iprot);
struct.results.add(_elem18);
<<<<<<<
TKeyValue _elem23; // required
_elem23 = new TKeyValue();
_elem23.read(iprot);
struct.results.add(_elem23);
=======
TKeyValue _elem15;
_elem15 = new TKeyValue();
_elem15.read(iprot);
struct.results.add(_elem15);
>>>>>>>
TKeyValue _elem23;
_elem23 = new TKeyValue();
_elem23.read(iprot);
struct.results.add(_elem23); |
<<<<<<<
import us.ihmc.robotics.controllers.pidGains.PID3DGains;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultPID3DGains;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D;
import us.ihmc.robotics.geometry.ReferenceFrameMismatchException;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
=======
import us.ihmc.robotics.controllers.PositionPIDGains;
import us.ihmc.robotics.controllers.PositionPIDGainsInterface;
>>>>>>>
import us.ihmc.robotics.controllers.pidGains.PID3DGains;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultPID3DGains; |
<<<<<<<
private final List<FramePoint> cmpDesiredFinalPositions = new ArrayList<>();
private final List<FramePoint> icpDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint> icpDesiredFinalPositions = new ArrayList<>();
private FramePoint icpPositionDesiredCurrent = new FramePoint();
private FrameVector icpVelocityDesiredCurrent = new FrameVector();
private FrameVector icpAccelerationDesiredCurrent = new FrameVector();
private FrameVector icpVelocityDynamicsCurrent = new FrameVector();
private final List<FramePoint> comDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint> comDesiredFinalPositions = new ArrayList<>();
private FramePoint comPositionDesiredCurrent = new FramePoint();
private FrameVector comVelocityDesiredCurrent = new FrameVector();
private FrameVector comAccelerationDesiredCurrent = new FrameVector();
private FrameVector comVelocityDynamicsCurrent = new FrameVector();
private FramePoint icpPositionDesiredFinalCurrentSegment = new FramePoint();
private FramePoint comPositionDesiredInitialCurrentSegment = new FramePoint();
private FramePoint comPositionDesiredFinalCurrentSegment = new FramePoint();
private FramePoint cmpPositionDesiredInitial = new FramePoint();
private FramePoint icpPositionDesiredTerminal = new FramePoint();
=======
private final static ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
private final List<FramePoint3D> cmpDesiredFinalPositions = new ArrayList<>();
private final List<FramePoint3D> icpDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint3D> icpDesiredFinalPositions = new ArrayList<>();
private FramePoint3D icpPositionDesiredCurrent = new FramePoint3D();
private FrameVector3D icpVelocityDesiredCurrent = new FrameVector3D();
private FrameVector3D icpAccelerationDesiredCurrent = new FrameVector3D();
private FrameVector3D icpVelocityDynamicsCurrent = new FrameVector3D();
private final List<FramePoint3D> comDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint3D> comDesiredFinalPositions = new ArrayList<>();
private FramePoint3D comPositionDesiredCurrent = new FramePoint3D();
private FrameVector3D comVelocityDesiredCurrent = new FrameVector3D();
private FrameVector3D comAccelerationDesiredCurrent = new FrameVector3D();
private FrameVector3D comVelocityDynamicsCurrent = new FrameVector3D();
private FramePoint3D icpPositionDesiredFinalCurrentSegment = new FramePoint3D();
private FramePoint3D comPositionDesiredInitialCurrentSegment = new FramePoint3D();
private FramePoint3D comPositionDesiredFinalCurrentSegment = new FramePoint3D();
private FramePoint3D cmpPositionDesiredInitial = new FramePoint3D();
private FramePoint3D icpPositionDesiredTerminal = new FramePoint3D();
private YoFramePoint icpCurrentTest;
private YoFramePoint icpFirstFinalTest;
private YoFramePoint icpTerminalTest;
>>>>>>>
private final static ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
private final List<FramePoint3D> cmpDesiredFinalPositions = new ArrayList<>();
private final List<FramePoint3D> icpDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint3D> icpDesiredFinalPositions = new ArrayList<>();
private FramePoint3D icpPositionDesiredCurrent = new FramePoint3D();
private FrameVector3D icpVelocityDesiredCurrent = new FrameVector3D();
private FrameVector3D icpAccelerationDesiredCurrent = new FrameVector3D();
private FrameVector3D icpVelocityDynamicsCurrent = new FrameVector3D();
private final List<FramePoint3D> comDesiredInitialPositions = new ArrayList<>();
private final List<FramePoint3D> comDesiredFinalPositions = new ArrayList<>();
private FramePoint3D comPositionDesiredCurrent = new FramePoint3D();
private FrameVector3D comVelocityDesiredCurrent = new FrameVector3D();
private FrameVector3D comAccelerationDesiredCurrent = new FrameVector3D();
private FrameVector3D comVelocityDynamicsCurrent = new FrameVector3D();
private FramePoint3D icpPositionDesiredFinalCurrentSegment = new FramePoint3D();
private FramePoint3D comPositionDesiredInitialCurrentSegment = new FramePoint3D();
private FramePoint3D comPositionDesiredFinalCurrentSegment = new FramePoint3D();
private FramePoint3D cmpPositionDesiredInitial = new FramePoint3D();
private FramePoint3D icpPositionDesiredTerminal = new FramePoint3D();
private YoFramePoint icpCurrentTest;
private YoFramePoint icpFirstFinalTest;
private YoFramePoint icpTerminalTest;
<<<<<<<
private int numberOfSegmentsSwing0;
private int numberOfSegmentsTransfer0;
=======
>>>>>>>
private int numberOfSegmentsSwing0;
private int numberOfSegmentsTransfer0;
<<<<<<<
=======
icpCurrentTest = new YoFramePoint("ICPCurrentTest", ReferenceFrame.getWorldFrame(), registry);
icpFirstFinalTest = new YoFramePoint("ICPFirstFinalTest", ReferenceFrame.getWorldFrame(), registry);
icpTerminalTest = new YoFramePoint("ICPTerminalTest", ReferenceFrame.getWorldFrame(), registry);
>>>>>>>
icpCurrentTest = new YoFramePoint("ICPCurrentTest", ReferenceFrame.getWorldFrame(), registry);
icpFirstFinalTest = new YoFramePoint("ICPFirstFinalTest", ReferenceFrame.getWorldFrame(), registry);
icpTerminalTest = new YoFramePoint("ICPTerminalTest", ReferenceFrame.getWorldFrame(), registry);
<<<<<<<
=======
icpTerminalTest.set(icpPositionDesiredTerminal);
>>>>>>>
icpTerminalTest.set(icpPositionDesiredTerminal);
<<<<<<<
if(useDecoupled.getBooleanValue())
=======
icpFirstFinalTest.set(icpPositionDesiredFinalCurrentSegment);
if (useDecoupled.getBooleanValue())
>>>>>>>
icpFirstFinalTest.set(icpPositionDesiredFinalCurrentSegment);
if (useDecoupled.getBooleanValue())
<<<<<<<
=======
icpCurrentTest.set(icpPositionDesiredCurrent);
>>>>>>>
icpCurrentTest.set(icpPositionDesiredCurrent);
<<<<<<<
public void getFinalCoMPositionInSwing(FramePoint comPositionDesiredFinalToPack)
{
if(isDoubleSupport.getBooleanValue())
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsTransfer0 + numberOfSegmentsSwing0 - 1);
}
else
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsSwing0 - 1);
}
}
public void getFinalCoMPositionInTransfer(FramePoint comPositionDesiredFinalToPack)
{
if(isDoubleSupport.getBooleanValue())
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsTransfer0 - 1);
}
else
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsSwing0 + numberOfSegmentsTransfer0 - 1);
}
}
=======
>>>>>>>
public void getFinalCoMPositionInSwing(FramePoint comPositionDesiredFinalToPack)
{
if(isDoubleSupport.getBooleanValue())
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsTransfer0 + numberOfSegmentsSwing0 - 1);
}
else
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsSwing0 - 1);
}
}
public void getFinalCoMPositionInTransfer(FramePoint comPositionDesiredFinalToPack)
{
if(isDoubleSupport.getBooleanValue())
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsTransfer0 - 1);
}
else
{
getCoMPositionDesiredFinalFromSegment(comPositionDesiredFinalToPack, numberOfSegmentsSwing0 + numberOfSegmentsTransfer0 - 1);
}
} |
<<<<<<<
=======
import us.ihmc.robotModels.FullHumanoidRobotModelFactory;
>>>>>>>
import us.ihmc.robotModels.FullHumanoidRobotModelFactory;
<<<<<<<
import us.ihmc.wholeBodyController.WholeBodyControllerParameters;
import us.ihmc.yoVariables.variable.YoDouble;
=======
import us.ihmc.yoVariables.variable.YoDouble;
>>>>>>>
import us.ihmc.yoVariables.variable.YoDouble;
<<<<<<<
private SolarPanelWholeBodyTrajectoryMessageFactory motionFactory;
=======
private SolarPanelWholeBodyTrajectoryMessageFacotry motionFactory;
>>>>>>>
private SolarPanelWholeBodyTrajectoryMessageFactory motionFactory;
<<<<<<<
WholeBodyControllerParameters wholeBodyControllerParameters;
=======
>>>>>>>
<<<<<<<
public CleaningMotionStateMachineBehavior(CommunicationBridge communicationBridge, YoDouble yoTime,
WholeBodyControllerParameters wholeBodyControllerParameters, FullHumanoidRobotModel fullRobotModel,
HumanoidReferenceFrames referenceFrames)
=======
public CleaningMotionStateMachineBehavior(CommunicationBridge communicationBridge, YoDouble yoTime, FullHumanoidRobotModelFactory robotModelFactory,
FullHumanoidRobotModel fullRobotModel, HumanoidReferenceFrames referenceFrames)
>>>>>>>
public CleaningMotionStateMachineBehavior(CommunicationBridge communicationBridge, YoDouble yoTime, FullHumanoidRobotModelFactory robotModelFactory,
FullHumanoidRobotModel fullRobotModel, HumanoidReferenceFrames referenceFrames)
<<<<<<<
doneBehavior = new TestDoneBehavior(communicationBridge);
motionFactory = new SolarPanelWholeBodyTrajectoryMessageFactory(fullRobotModel);
// ********************************** get SolarPanel Info ********************************** //
=======
doneBehavior = new TestDoneBehavior(communicationBridge);
motionFactory = new SolarPanelWholeBodyTrajectoryMessageFacotry(fullRobotModel);
// ********************************** get SolarPanel Info ********************************** //
>>>>>>>
doneBehavior = new TestDoneBehavior(communicationBridge);
motionFactory = new SolarPanelWholeBodyTrajectoryMessageFactory(fullRobotModel);
// ********************************** get SolarPanel Info ********************************** //
<<<<<<<
SolarPanelCleaningPose readyPose = new SolarPanelCleaningPose(solarPanel, 0.5, 0.1, -0.15, -Math.PI * 0.1);
=======
SolarPanelCleaningPose readyPose = new SolarPanelCleaningPose(solarPanel, 0.5, 0.1, -0.15, -Math.PI*0.1);
>>>>>>>
SolarPanelCleaningPose readyPose = new SolarPanelCleaningPose(solarPanel, 0.5, 0.1, -0.15, -Math.PI*0.1);
<<<<<<<
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.1, -0.15, -Math.PI * 0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.2, -0.15, -Math.PI * 0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.2, -0.15, -Math.PI * 0.1), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.3, -0.15, -Math.PI * 0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.3, -0.15, -Math.PI * 0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.4, -0.15, -Math.PI * 0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.4, -0.15, -Math.PI * 0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.5, -0.15, -Math.PI * 0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.5, -0.15, -Math.PI * 0.3), 1.0);
=======
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.1, -0.15, -Math.PI*0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.2, -0.15, -Math.PI*0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.2, -0.15, -Math.PI*0.1), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.3, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.3, -0.15, -Math.PI*0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.4, -0.15, -Math.PI*0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.4, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.5, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.5, -0.15, -Math.PI*0.3), 1.0);
>>>>>>>
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.1, -0.15, -Math.PI*0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.2, -0.15, -Math.PI*0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.2, -0.15, -Math.PI*0.1), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.3, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.3, -0.15, -Math.PI*0.3), 4.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.4, -0.15, -Math.PI*0.3), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.4, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.5, 0.5, -0.15, -Math.PI*0.1), 1.0);
cleaningPath.addCleaningPose(new SolarPanelCleaningPose(solarPanel, 0.1, 0.5, -0.15, -Math.PI*0.3), 1.0);
<<<<<<<
PrintTools.info("cur Height is " + fullRobotModel.getPelvis().getBodyFixedFrame().getTransformToWorldFrame().getM23() + " " + yoTime);
=======
PrintTools.info("cur Height is "+ fullRobotModel.getPelvis().getBodyFixedFrame().getTransformToWorldFrame().getM23() +" "+ yoTime);
>>>>>>>
PrintTools.info("cur Height is "+ fullRobotModel.getPelvis().getBodyFixedFrame().getTransformToWorldFrame().getM23() +" "+ yoTime);
<<<<<<<
this.wholeBodyControllerParameters = wholeBodyControllerParameters;
=======
>>>>>>>
<<<<<<<
controlPointOptimizationBehavior = new ControlPointOptimizationStateMachineBehavior(rootNode, communicationBridge, yoTime, wholeBodyControllerParameters,
fullRobotModel, referenceFrames);
=======
controlPointOptimizationBehavior
= new ControlPointOptimizationStateMachineBehavior(rootNode, communicationBridge, yoTime, robotModelFactory, fullRobotModel, referenceFrames);
>>>>>>>
controlPointOptimizationBehavior
= new ControlPointOptimizationStateMachineBehavior(rootNode, communicationBridge, yoTime, robotModelFactory, fullRobotModel, referenceFrames);
<<<<<<<
BehaviorAction<CleaningMotionState> getSolarPanelAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GET_SOLARPANEL,
getSolarPanelBehavior)
=======
BehaviorAction<CleaningMotionState> getSolarPanelAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GET_SOLARPANEL, getSolarPanelBehavior)
>>>>>>>
BehaviorAction<CleaningMotionState> getSolarPanelAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GET_SOLARPANEL, getSolarPanelBehavior)
<<<<<<<
BehaviorAction<CleaningMotionState> controlPointOptimizationAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CONTROLPOINT_OPTIMIZATION,
controlPointOptimizationBehavior)
=======
BehaviorAction<CleaningMotionState> controlPointOptimizationAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CONTROLPOINT_OPTIMIZATION, controlPointOptimizationBehavior)
>>>>>>>
BehaviorAction<CleaningMotionState> controlPointOptimizationAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CONTROLPOINT_OPTIMIZATION, controlPointOptimizationBehavior)
<<<<<<<
BehaviorAction<CleaningMotionState> gotoReadyPoseAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GOTO_READYPOSE,
wholebodyTrajectoryBehavior)
=======
BehaviorAction<CleaningMotionState> gotoReadyPoseAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GOTO_READYPOSE, wholebodyTrajectoryBehavior)
>>>>>>>
BehaviorAction<CleaningMotionState> gotoReadyPoseAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.GOTO_READYPOSE, wholebodyTrajectoryBehavior)
<<<<<<<
BehaviorAction<CleaningMotionState> cleaningAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CLEANING_MOTION,
wholebodyTrajectoryBehavior)
=======
BehaviorAction<CleaningMotionState> cleaningAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CLEANING_MOTION, wholebodyTrajectoryBehavior)
>>>>>>>
BehaviorAction<CleaningMotionState> cleaningAction = new BehaviorAction<CleaningMotionState>(CleaningMotionState.CLEANING_MOTION, wholebodyTrajectoryBehavior)
<<<<<<<
=======
>>>>>>> |
<<<<<<<
import us.ihmc.robotics.controllers.YoPIDSE3Gains;
import us.ihmc.robotics.geometry.FrameVector2D;
import us.ihmc.robotics.geometry.FrameVector3D;
=======
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
>>>>>>>
import us.ihmc.robotics.controllers.YoPIDSE3Gains; |
<<<<<<<
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
=======
import us.ihmc.commonWalkingControlModules.momentumBasedController.OrientationTrajectoryData;
import us.ihmc.commonWalkingControlModules.momentumBasedController.RootJointAngularAccelerationControlModule;
import us.ihmc.commonWalkingControlModules.packetConsumers.PelvisPoseProvider;
import us.ihmc.commonWalkingControlModules.packetConsumers.StopAllTrajectoryMessageSubscriber;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisTrajectoryMessage;
>>>>>>>
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
<<<<<<<
=======
import us.ihmc.robotics.math.trajectories.OrientationInterpolationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.OrientationTrajectoryGenerator;
>>>>>>>
<<<<<<<
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.SO3TrajectoryPointInterface;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.TrajectoryPointListInterface;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.screwTheory.RigidBody;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
=======
import us.ihmc.robotics.math.trajectories.providers.YoQuaternionProvider;
import us.ihmc.robotics.math.trajectories.providers.YoVariableDoubleProvider;
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.trajectories.providers.DoubleProvider;
import us.ihmc.robotics.trajectories.providers.OrientationProvider;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
>>>>>>>
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.SO3TrajectoryPointInterface;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.TrajectoryPointListInterface;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.screwTheory.RigidBody;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
<<<<<<<
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
=======
private final DoubleYoVariable offsetTrajectoryTime = new DoubleYoVariable("offsetTrajectoryTime", registry);
private final YoFrameQuaternion initialPelvisOrientationOffset;
private final YoFrameQuaternion finalPelvisOrientationOffset;
private final BooleanYoVariable isUsingWaypointTrajectory;
private OrientationTrajectoryGenerator activeOrientationOffsetTrajectoryGenerator;
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
private final OrientationTrajectoryGenerator pelvisOrientationOffsetTrajectoryGenerator;
>>>>>>>
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
<<<<<<<
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
=======
private final PelvisPoseProvider pelvisPoseProvider;
private final StopAllTrajectoryMessageSubscriber stopAllTrajectoryMessageSubscriber;
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
>>>>>>>
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
<<<<<<<
YoVariableRegistry parentRegistry)
=======
PelvisPoseProvider desiredPelvisPoseProvider, StopAllTrajectoryMessageSubscriber stopAllTrajectoryMessageSubscriber, YoVariableRegistry parentRegistry)
>>>>>>>
YoVariableRegistry parentRegistry)
<<<<<<<
=======
this.pelvisPoseProvider = desiredPelvisPoseProvider;
this.stopAllTrajectoryMessageSubscriber = stopAllTrajectoryMessageSubscriber;
YoOrientationPIDGains pelvisOrientationControlGains = walkingControllerParameters.createPelvisOrientationControlGains(registry);
rootJointAngularAccelerationControlModule = new RootJointAngularAccelerationControlModule(momentumBasedController, pelvisOrientationControlGains,
registry);
>>>>>>>
<<<<<<<
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", 15, allowMultipleFrames,
desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
=======
offsetTrajectoryTime.set(defaultTrajectoryTime);
initialPelvisOrientationOffset = new YoFrameQuaternion("initialPelvis", "Offset", desiredPelvisFrame, registry);
finalPelvisOrientationOffset = new YoFrameQuaternion("finalPelvis", "Offset", desiredPelvisFrame, registry);
OrientationProvider initialPelvisOrientationOffsetProvider = new YoQuaternionProvider(initialPelvisOrientationOffset);
OrientationProvider finalPelvisOrientationOffsetProvider = new YoQuaternionProvider(finalPelvisOrientationOffset);
DoubleProvider offsetTrajectoryTimeProvider = new YoVariableDoubleProvider(offsetTrajectoryTime);
isUsingWaypointTrajectory = new BooleanYoVariable(getClass().getSimpleName() + "IsUsingWaypointTrajectory", registry);
isUsingWaypointTrajectory.set(false);
pelvisOrientationOffsetTrajectoryGenerator = new OrientationInterpolationTrajectoryGenerator("pelvisOffset", desiredPelvisFrame,
offsetTrajectoryTimeProvider, initialPelvisOrientationOffsetProvider, finalPelvisOrientationOffsetProvider, registry);
pelvisOrientationOffsetTrajectoryGenerator.initialize();
activeOrientationOffsetTrajectoryGenerator = pelvisOrientationOffsetTrajectoryGenerator;
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", allowMultipleFrames, desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
>>>>>>>
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", allowMultipleFrames,
desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
<<<<<<<
=======
if (isUsingWaypointTrajectory != null)
{
if (isUsingWaypointTrajectory.getBooleanValue())
activeOrientationOffsetTrajectoryGenerator = waypointOrientationOffsetTrajectoryGenerator;
else
activeOrientationOffsetTrajectoryGenerator = pelvisOrientationOffsetTrajectoryGenerator;
}
updateDesireds();
handleStopAllTrajectoryMessage();
rootJointAngularAccelerationControlModule.doControl(orientationTrajectoryData);
}
private void updateDesireds()
{
>>>>>>> |
<<<<<<<
double smallestCostToGoal = Double.POSITIVE_INFINITY;
=======
if (!initialStanceFootWasSet || !goalWasSet)
{
return FootstepPlanningResult.NO_PATH_EXISTS;
}
initialize();
>>>>>>>
double smallestCostToGoal = Double.POSITIVE_INFINITY;
if (!initialStanceFootWasSet || !goalWasSet)
{
return FootstepPlanningResult.NO_PATH_EXISTS;
}
initialize(); |
<<<<<<<
handTrajectoryMessage.setTrajectoryPoint(i, time, desiredPosition, desiredOrientation, desiredLinearVelocity, desiredAngularVelocity);
PrintTools.info(""+i+" time is "+euclideanTrajectoryPointCalculator.getTrajectoryPoints().get(i).getTime());
=======
handTrajectoryMessage.setTrajectoryPoint(i, time, desiredPosition, desiredOrientation, desiredLinearVelocity, desiredAngularVelocity, worldFrame);
SE3TrajectoryPointMessage point = new SE3TrajectoryPointMessage(time, desiredPosition, desiredOrientation, desiredLinearVelocity, desiredAngularVelocity);
handTrajectoryPoints.get(robotSide).addLast(point);
>>>>>>>
handTrajectoryMessage.setTrajectoryPoint(i, time, desiredPosition, desiredOrientation, desiredLinearVelocity, desiredAngularVelocity, worldFrame);
SE3TrajectoryPointMessage point = new SE3TrajectoryPointMessage(time, desiredPosition, desiredOrientation, desiredLinearVelocity, desiredAngularVelocity);
handTrajectoryPoints.get(robotSide).addLast(point);
PrintTools.info(""+i+" time is "+euclideanTrajectoryPointCalculator.getTrajectoryPoints().get(i).getTime()); |
<<<<<<<
package us.ihmc.commonWalkingControlModules.trajectories;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.ArrayList;
import java.util.List;
import javax.vecmath.Point3d;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.frames.YoFramePoint;
import us.ihmc.robotics.math.trajectories.providers.YoPositionProvider;
import us.ihmc.robotics.math.trajectories.providers.YoVariableDoubleProvider;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.ConstantVectorProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.robotics.trajectories.providers.TrajectoryParameters;
import us.ihmc.robotics.trajectories.providers.TrajectoryParametersProvider;
import us.ihmc.robotics.trajectories.providers.VectorProvider;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
public class TwoWaypointPositionTrajectoryGeneratorTest
{
private static ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRegisteringYoVariables()
{
assertTrue(TwoWaypointPositionTrajectoryGenerator.REGISTER_YOVARIABLES);
}
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testSimpleTrajectories()
{
testSimpleTrajectory(3);
testSimpleTrajectory(4);
}
private void testSimpleTrajectory(int numDesiredSplines)
{
YoVariableDoubleProvider stepTimeProvider = new YoVariableDoubleProvider("", new YoVariableRegistry(""));
stepTimeProvider.set(0.8);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, new double[] {-0.1, 2.3, 0.0}));
VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[] {0.2, 0.0, -0.05}));
Point3d firstIntermediatePosition = new Point3d(new double[] {0.12, 2.4, 0.2});
Point3d secondIntermediatePosition = new Point3d(new double[] {0.16, 2.3, 0.15});
ArrayList<Point3d> waypoints = new ArrayList<Point3d>();
waypoints.add(firstIntermediatePosition);
waypoints.add(secondIntermediatePosition);
YoFramePoint finalPosition = new YoFramePoint("", worldFrame, new YoVariableRegistry(""));
finalPosition.set(new FramePoint(worldFrame, new double[] {0.2, 2.35, 0.03}));
YoPositionProvider finalPositionProvider = new YoPositionProvider(finalPosition);
VectorProvider finalVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[] {0.1, 0.01, -0.02}));
TrajectoryParameters trajectoryParameters = new TrajectoryParameters();
TrajectoryParametersProvider trajectoryParametersProvider = new TrajectoryParametersProvider(trajectoryParameters);
TwoWaypointPositionTrajectoryGenerator trajectory = new TwoWaypointPositionTrajectoryGenerator("", worldFrame, stepTimeProvider, initialPositionProvider,
initialVelocityProvider, null, finalPositionProvider, finalVelocityProvider, trajectoryParametersProvider, new YoVariableRegistry(""), null, null,
false);
List<Point3d> points = new ArrayList<Point3d>();
points.add(firstIntermediatePosition);
points.add(secondIntermediatePosition);
trajectory.initialize();
trajectory.compute(0.0);
FramePoint actual = new FramePoint(worldFrame);
FramePoint expected = new FramePoint(worldFrame);
initialPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
assertFalse(trajectory.isDone());
FrameVector actualVel = new FrameVector(worldFrame);
FrameVector expectedVel = new FrameVector(worldFrame);
trajectory.getVelocity(actualVel);
initialVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
trajectory.compute(0.8);
finalPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
trajectory.getVelocity(actualVel);
finalVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
assertTrue(trajectory.isDone());
}
}
=======
package us.ihmc.commonWalkingControlModules.trajectories;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.ArrayList;
import java.util.List;
import javax.vecmath.Point3d;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.frames.YoFramePoint;
import us.ihmc.robotics.math.trajectories.providers.YoPositionProvider;
import us.ihmc.robotics.math.trajectories.providers.YoVariableDoubleProvider;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.ConstantVectorProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.robotics.trajectories.providers.TrajectoryParameters;
import us.ihmc.robotics.trajectories.providers.TrajectoryParametersProvider;
import us.ihmc.robotics.trajectories.providers.VectorProvider;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
public class TwoWaypointPositionTrajectoryGeneratorTest {
private static ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRegisteringYoVariables()
{
assertTrue(TwoWaypointPositionTrajectoryGenerator.REGISTER_YOVARIABLES);
}
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testSimpleTrajectories()
{
testSimpleTrajectory(3);
testSimpleTrajectory(4);
}
private void testSimpleTrajectory(int numDesiredSplines)
{
YoVariableDoubleProvider stepTimeProvider = new YoVariableDoubleProvider("", new YoVariableRegistry(""));
stepTimeProvider.set(0.8);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, new double[]{-0.1, 2.3, 0.0}));
VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[]{0.2, 0.0, -0.05}));
Point3d firstIntermediatePosition = new Point3d(new double[]{0.12, 2.4, 0.2});
Point3d secondIntermediatePosition = new Point3d(new double[]{0.16, 2.3, 0.15});
ArrayList<Point3d> waypoints = new ArrayList<Point3d>();
waypoints.add(firstIntermediatePosition);
waypoints.add(secondIntermediatePosition);
YoFramePoint finalPosition = new YoFramePoint("", worldFrame, new YoVariableRegistry(""));
finalPosition.set(new FramePoint(worldFrame, new double[]{0.2, 2.35, 0.03}));
YoPositionProvider finalPositionProvider = new YoPositionProvider(finalPosition);
VectorProvider finalVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[]{0.1, 0.01, -0.02}));
TrajectoryParameters trajectoryParameters = new TrajectoryParameters();
TrajectoryParametersProvider trajectoryParametersProvider = new TrajectoryParametersProvider(trajectoryParameters);
TwoWaypointPositionTrajectoryGenerator trajectory = new TwoWaypointPositionTrajectoryGenerator("", worldFrame, stepTimeProvider,
initialPositionProvider, initialVelocityProvider, null, finalPositionProvider, finalVelocityProvider, trajectoryParametersProvider, new YoVariableRegistry(""),
null, 0.0, false);
List<Point3d> points = new ArrayList<Point3d>();
points.add(firstIntermediatePosition);
points.add(secondIntermediatePosition);
trajectory.initialize();
trajectory.compute(0.0);
FramePoint actual = new FramePoint(worldFrame);
FramePoint expected = new FramePoint(worldFrame);
initialPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
assertFalse(trajectory.isDone());
FrameVector actualVel = new FrameVector(worldFrame);
FrameVector expectedVel = new FrameVector(worldFrame);
trajectory.getVelocity(actualVel);
initialVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
trajectory.compute(0.8);
finalPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
trajectory.getVelocity(actualVel);
finalVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
assertTrue(trajectory.isDone());
}
}
>>>>>>>
package us.ihmc.commonWalkingControlModules.trajectories;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.ArrayList;
import java.util.List;
import javax.vecmath.Point3d;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.frames.YoFramePoint;
import us.ihmc.robotics.math.trajectories.providers.YoPositionProvider;
import us.ihmc.robotics.math.trajectories.providers.YoVariableDoubleProvider;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.ConstantVectorProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.robotics.trajectories.providers.TrajectoryParameters;
import us.ihmc.robotics.trajectories.providers.TrajectoryParametersProvider;
import us.ihmc.robotics.trajectories.providers.VectorProvider;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
public class TwoWaypointPositionTrajectoryGeneratorTest
{
private static ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRegisteringYoVariables()
{
assertTrue(TwoWaypointPositionTrajectoryGenerator.REGISTER_YOVARIABLES);
}
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testSimpleTrajectories()
{
testSimpleTrajectory(3);
testSimpleTrajectory(4);
}
private void testSimpleTrajectory(int numDesiredSplines)
{
YoVariableDoubleProvider stepTimeProvider = new YoVariableDoubleProvider("", new YoVariableRegistry(""));
stepTimeProvider.set(0.8);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, new double[] {-0.1, 2.3, 0.0}));
VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[] {0.2, 0.0, -0.05}));
Point3d firstIntermediatePosition = new Point3d(new double[] {0.12, 2.4, 0.2});
Point3d secondIntermediatePosition = new Point3d(new double[] {0.16, 2.3, 0.15});
ArrayList<Point3d> waypoints = new ArrayList<Point3d>();
waypoints.add(firstIntermediatePosition);
waypoints.add(secondIntermediatePosition);
YoFramePoint finalPosition = new YoFramePoint("", worldFrame, new YoVariableRegistry(""));
finalPosition.set(new FramePoint(worldFrame, new double[] {0.2, 2.35, 0.03}));
YoPositionProvider finalPositionProvider = new YoPositionProvider(finalPosition);
VectorProvider finalVelocityProvider = new ConstantVectorProvider(new FrameVector(worldFrame, new double[] {0.1, 0.01, -0.02}));
TrajectoryParameters trajectoryParameters = new TrajectoryParameters();
TrajectoryParametersProvider trajectoryParametersProvider = new TrajectoryParametersProvider(trajectoryParameters);
TwoWaypointPositionTrajectoryGenerator trajectory = new TwoWaypointPositionTrajectoryGenerator("", worldFrame, stepTimeProvider, initialPositionProvider,
initialVelocityProvider, null, finalPositionProvider, finalVelocityProvider, trajectoryParametersProvider, new YoVariableRegistry(""), null, 0.0,
false);
List<Point3d> points = new ArrayList<Point3d>();
points.add(firstIntermediatePosition);
points.add(secondIntermediatePosition);
trajectory.initialize();
trajectory.compute(0.0);
FramePoint actual = new FramePoint(worldFrame);
FramePoint expected = new FramePoint(worldFrame);
initialPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
assertFalse(trajectory.isDone());
FrameVector actualVel = new FrameVector(worldFrame);
FrameVector expectedVel = new FrameVector(worldFrame);
trajectory.getVelocity(actualVel);
initialVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
trajectory.compute(0.8);
finalPositionProvider.getPosition(expected);
trajectory.getPosition(actual);
assertEquals(actual.getX(), expected.getX(), 1e-7);
assertEquals(actual.getY(), expected.getY(), 1e-7);
assertEquals(actual.getZ(), expected.getZ(), 1e-7);
trajectory.getVelocity(actualVel);
finalVelocityProvider.get(expectedVel);
assertEquals(actualVel.getX(), expectedVel.getX(), 1e-7);
assertEquals(actualVel.getY(), expectedVel.getY(), 1e-7);
assertEquals(actualVel.getZ(), expectedVel.getZ(), 1e-7);
assertTrue(trajectory.isDone());
}
} |
<<<<<<<
import us.ihmc.commonWalkingControlModules.controlModules.rigidBody.RigidBodyJointspaceControlState;
=======
import us.ihmc.commons.RandomNumbers;
>>>>>>>
import us.ihmc.commonWalkingControlModules.controlModules.rigidBody.RigidBodyJointspaceControlState;
import us.ihmc.commons.RandomNumbers;
<<<<<<<
double desired = getRandomJointAngleInRange(random, joint);
=======
double jointLimitUpper = joint.getJointLimitUpper();
double jointLimitLower = joint.getJointLimitLower();
double desired = RandomNumbers.nextDouble(random, jointLimitLower, jointLimitUpper);
>>>>>>>
double desired = getRandomJointAngleInRange(random, joint); |
<<<<<<<
import us.ihmc.robotics.controllers.YoPIDSE3Gains;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.geometry.FrameVector2d;
=======
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
import us.ihmc.robotics.geometry.FrameVector3D;
import us.ihmc.robotics.geometry.FrameVector2D;
>>>>>>>
import us.ihmc.robotics.controllers.YoPIDSE3Gains;
import us.ihmc.robotics.geometry.FrameVector2D;
import us.ihmc.robotics.geometry.FrameVector3D; |
<<<<<<<
=======
import us.ihmc.robotics.robotSide.RobotSide;
>>>>>>> |
<<<<<<<
=======
import org.apache.accumulo.core.constraints.Constraint.Environment;
import org.apache.accumulo.core.data.ArrayByteSequence;
import org.apache.accumulo.core.data.ByteSequence;
>>>>>>>
import org.apache.accumulo.core.data.ArrayByteSequence;
import org.apache.accumulo.core.data.ByteSequence;
<<<<<<<
public VisibilityEvaluator(AuthorizationContainer authsContainer) {
this.auths = authsContainer;
=======
VisibilityEvaluator(Environment env) {
this.auths = new UnescapingAuthorizationContainer(env.getAuthorizationsContainer());
>>>>>>>
public VisibilityEvaluator(AuthorizationContainer authsContainer) {
this.auths = new UnescapingAuthorizationContainer(authsContainer); |
<<<<<<<
public WholeBodyControllerCore(WholeBodyControlCoreToolbox toolbox, FeedbackControlCommandList allPossibleCommands, YoRegistry parentRegistry)
=======
@Deprecated
public WholeBodyControllerCore(WholeBodyControlCoreToolbox toolbox, FeedbackControlCommandList allPossibleCommands, YoVariableRegistry parentRegistry)
>>>>>>>
@Deprecated
public WholeBodyControllerCore(WholeBodyControlCoreToolbox toolbox, FeedbackControlCommandList allPossibleCommands, YoRegistry parentRegistry) |
<<<<<<<
double qd = 2.0 * defaultConfigurationGain.getDoubleValue() * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qd = MathTools.clipToMinMax(qd, defaultMaxVelocity.getDoubleValue());
=======
double qd = 2.0 * configurationGain.getDoubleValue() * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qd = MathTools.clamp(qd, maxVelocity.getDoubleValue());
>>>>>>>
double qd = 2.0 * defaultConfigurationGain.getDoubleValue() * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qd = MathTools.clamp(qd, defaultMaxVelocity.getDoubleValue());
<<<<<<<
double qdd = 2.0 * privilegedConfigurationGains.get(i, 0) * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qdd -= privilegedVelocityGains.get(i, 0) * joint.getQd();
qdd = MathTools.clipToMinMax(qdd, privilegedMaxAccelerations.get(i, 0));
=======
double qdd = 2.0 * configurationGain.getDoubleValue() * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qdd -= velocityGain.getDoubleValue() * joint.getQd();
qdd = MathTools.clamp(qdd, maxAcceleration.getDoubleValue());
>>>>>>>
double qdd = 2.0 * privilegedConfigurationGains.get(i, 0) * (privilegedConfigurations.get(i, 0) - joint.getQ()) / jointSquaredRangeOfMotions.get(i, 0);
qdd -= privilegedVelocityGains.get(i, 0) * joint.getQd();
qdd = MathTools.clamp(qdd, privilegedMaxAccelerations.get(i, 0));
<<<<<<<
/**
* Returns the number of kinematic chains that contain privileged configurations.
* @return number of kinematic chains
*/
public int getNumberOfChains()
{
return chainBases.size();
}
/**
* Returns the base of the current kinematic chain to compute the Jacobian.
* @param chainIndex the current chain number
* @return base body of the current kinematic chain.
*/
public RigidBody getChainBase(int chainIndex)
{
return chainBases.get(chainIndex);
}
/**
* Returns the end effectors of the current kinematic chain to compute the Jacobian.
* @param chainIndex the current chain number.
* @return end effector body of the current kinematic chain.
*/
public RigidBody getChainEndEffector(int chainIndex)
{
return chainEndEffectors.get(chainIndex);
}
/**
* Returns the default weight for the privileged configuration handler, if there is not a specific weight assigned.
* @return default weight
*/
public double getDefaultWeight()
{
return defaultConfigurationWeight.getDoubleValue();
}
=======
>>>>>>> |
<<<<<<<
FramePoint2d referenceFootstepLocation = referenceFootstepLocations.get(i).getFrameTuple2d();
boolean footstepWasAdjusted = applyLocationDeadband(locationSolution, upcomingFootstepLocation, referenceFootstepLocation, deadbandFrame,
=======
clippedLocationSolution.set(locationSolution);
boolean footstepWasAdjusted = applyLocationDeadband(clippedLocationSolution, upcomingFootstepLocation, referenceFootstepLocations.get(i).getFrameTuple2d(), deadbandFrame,
>>>>>>>
FramePoint2d referenceFootstepLocation = referenceFootstepLocations.get(i).getFrameTuple2d();
clippedLocationSolution.set(locationSolution);
boolean footstepWasAdjusted = applyLocationDeadband(clippedLocationSolution, upcomingFootstepLocation, referenceFootstepLocations.get(i).getFrameTuple2d(), deadbandFrame, |
<<<<<<<
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoVariable;
=======
>>>>>>>
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoVariable;
<<<<<<<
import us.ihmc.tools.thread.ThreadTools;
=======
import us.ihmc.commons.thread.ThreadTools;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoVariable;
>>>>>>>
import us.ihmc.commons.thread.ThreadTools; |
<<<<<<<
import us.ihmc.robotics.controllers.pidGains.PID3DGains;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultPID3DGains;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
=======
import us.ihmc.robotics.controllers.PositionPIDGains;
import us.ihmc.robotics.controllers.PositionPIDGainsInterface;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D;
>>>>>>>
import us.ihmc.robotics.controllers.pidGains.PID3DGains;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultPID3DGains;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D; |
<<<<<<<
FootstepRecursionMultiplierCalculator footstepRecursionMultiplierCalculator, DoubleYoVariable doubleSupportDuration,
DoubleYoVariable singleSupportDuration, DoubleYoVariable exitCMPDurationInPercentOfStepTime, DoubleYoVariable upcomingDoubleSupportSplitFraction,
boolean visualize, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
=======
FootstepRecursionMultiplierCalculator footstepRecursionMultiplierCalculator, NewStateMultiplierCalculator stateMultiplierCalculator,
DoubleYoVariable doubleSupportDuration, DoubleYoVariable singleSupportDuration, DoubleYoVariable exitCMPDurationInPercentOfStepTime,
DoubleYoVariable doubleSupportSplitFraction, boolean visualize, boolean useNewMultiplierCalculator, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
>>>>>>>
FootstepRecursionMultiplierCalculator footstepRecursionMultiplierCalculator, NewStateMultiplierCalculator stateMultiplierCalculator,
DoubleYoVariable doubleSupportDuration, DoubleYoVariable singleSupportDuration, DoubleYoVariable exitCMPDurationInPercentOfStepTime,
DoubleYoVariable upcomingDoubleSupportSplitFraction, boolean visualize, boolean useNewMultiplierCalculator, YoVariableRegistry registry,
YoGraphicsListRegistry yoGraphicsListRegistry)
<<<<<<<
double doubleSupportTimeSpentBeforeEntryCornerPoint = doubleSupportDuration.getDoubleValue() * upcomingDoubleSupportSplitFraction.getDoubleValue();
double steppingDuration = doubleSupportDuration.getDoubleValue() + singleSupportDuration.getDoubleValue();
double totalTimeSpentOnExitCMP = steppingDuration * exitCMPDurationInPercentOfStepTime.getDoubleValue();
double timeToSpendOnFinalCMPBeforeDoubleSupport = totalTimeSpentOnExitCMP - doubleSupportTimeSpentBeforeEntryCornerPoint;
if (numberOfFootstepsToConsider == 0)
=======
if (useNewMultiplierCalculator)
>>>>>>>
if (useNewMultiplierCalculator) |
<<<<<<<
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
=======
import us.ihmc.robotics.controllers.YoPDGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains;
>>>>>>>
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains; |
<<<<<<<
double stepDownHeight = 0.08;
super.testDropOffsWhileWalking(stepDownHeight);
=======
double stepDownHeight = 0.095;
setStepDownHeight(stepDownHeight);
super.testDropOffsWhileWalking();
>>>>>>>
double stepDownHeight = 0.08;
setStepDownHeight(stepDownHeight);
super.testDropOffsWhileWalking(); |
<<<<<<<
=======
import us.ihmc.humanoidBehaviors.behaviors.primitives.FootStateBehavior;
import us.ihmc.humanoidBehaviors.behaviors.primitives.ObjectWeightBehavior;
import us.ihmc.humanoidBehaviors.behaviors.primitives.WholeBodyIKTrajectoryBehavior;
import us.ihmc.humanoidBehaviors.communication.ConcurrentListeningQueue;
>>>>>>>
import us.ihmc.humanoidBehaviors.behaviors.primitives.FootStateBehavior;
<<<<<<<
=======
import us.ihmc.humanoidBehaviors.taskExecutor.BehaviorTask;
import us.ihmc.humanoidBehaviors.taskExecutor.FingerStateTask;
>>>>>>>
import us.ihmc.humanoidBehaviors.taskExecutor.BehaviorTask;
<<<<<<<
=======
import us.ihmc.humanoidBehaviors.taskExecutor.ObjectWeightTask;
import us.ihmc.humanoidBehaviors.taskExecutor.WalkToLocationTask;
import us.ihmc.humanoidBehaviors.taskExecutor.WholeBodyIKTrajectoryTask;
import us.ihmc.humanoidRobotics.communication.packets.behaviors.DrillPacket;
import us.ihmc.humanoidRobotics.communication.packets.dataobjects.FingerState;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootStatePacket;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.FootStatePacket; |
<<<<<<<
import org.ejml.ops.CommonOps;
import org.ejml.ops.MatrixFeatures;
=======
import org.junit.After;
>>>>>>>
import org.ejml.ops.CommonOps;
import org.ejml.ops.MatrixFeatures;
import org.junit.After;
<<<<<<<
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameTuple3DReadOnly;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameRandomTools;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameTestTools;
=======
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
>>>>>>>
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameTuple3DReadOnly;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameRandomTools;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameTestTools;
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
<<<<<<<
private final SmoothCoMIntegrationToolbox comToolbox = new SmoothCoMIntegrationToolbox();
=======
private final SmoothCoMIntegrationToolbox comToolbox = new SmoothCoMIntegrationToolbox(icpToolbox);
@After
public void tearDown()
{
ReferenceFrameTools.clearWorldFrameTree();
}
>>>>>>>
private final SmoothCoMIntegrationToolbox comToolbox = new SmoothCoMIntegrationToolbox();
@After
public void tearDown()
{
ReferenceFrameTools.clearWorldFrameTree();
} |
<<<<<<<
=======
import us.ihmc.humanoidBehaviors.BehaviorModule;
import us.ihmc.humanoidBehaviors.lookAndStep.LookAndStepBehavior;
import us.ihmc.humanoidBehaviors.lookAndStep.LookAndStepBehaviorAPI;
import us.ihmc.humanoidBehaviors.ui.BehaviorUIRegistry;
import us.ihmc.humanoidBehaviors.ui.behaviors.LookAndStepBehaviorUI;
>>>>>>>
import us.ihmc.humanoidBehaviors.BehaviorModule;
import us.ihmc.humanoidBehaviors.lookAndStep.LookAndStepBehavior;
import us.ihmc.humanoidBehaviors.lookAndStep.LookAndStepBehaviorAPI;
import us.ihmc.humanoidBehaviors.ui.BehaviorUIRegistry;
import us.ihmc.humanoidBehaviors.ui.behaviors.LookAndStepBehaviorUI;
<<<<<<<
import us.ihmc.yoVariables.registry.YoVariableRegistry;
=======
import us.ihmc.ros2.Ros2Node;
import us.ihmc.yoVariables.registry.YoRegistry;
>>>>>>>
import us.ihmc.yoVariables.registry.YoRegistry;
<<<<<<<
private final YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
private final ROS2Node ros2Node;
private final YoEnum<BuildingExplorationStateName> requestedState = YoEnum.create("requestedState", "", BuildingExplorationStateName.class, registry, true);
=======
private final YoRegistry registry = new YoRegistry(getClass().getSimpleName());
private final Ros2Node ros2Node;
private final YoEnum<BuildingExplorationStateName> requestedState = new YoEnum<>("requestedState", "", registry, BuildingExplorationStateName.class, true);
>>>>>>>
private final YoRegistry registry = new YoRegistry(getClass().getSimpleName());
private final ROS2Node ros2Node;
private final YoEnum<BuildingExplorationStateName> requestedState = new YoEnum<>("requestedState", "", registry, BuildingExplorationStateName.class, true); |
<<<<<<<
=======
import us.ihmc.humanoidRobotics.communication.packets.BumStatePacket;
>>>>>>>
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.EuclideanTrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangeMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.EuclideanTrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangePacket;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStatePacket;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.EuclideanTrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangeMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandComplianceControlParametersMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandDesiredConfigurationMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandComplianceControlParametersPacket;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandDesiredConfigurationMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandComplianceControlParametersMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandDesiredConfigurationMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
=======
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandStatePacket;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.LoadBearingRequest;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.LoadBearingRequest;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.FootPosePacket;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootStatePacket;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage.FootstepOrigin;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage.FootstepOrigin;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisOrientationTrajectoryMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisOrientationTrajectoryMessage;
<<<<<<<
registerPacketClass(AutomaticManipulationAbortMessage.class);
=======
registerPacketClass(AutomaticManipulationAbortPacket.class);
>>>>>>>
registerPacketClass(AutomaticManipulationAbortMessage.class);
<<<<<<<
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
=======
registerPacketClass(HandStatePacket.class);
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
registerPacketClass(HandLoadBearingPacket.class);
>>>>>>>
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
<<<<<<<
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(LoadBearingRequest.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(PelvisOrientationTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
registerPacketClass(GoHomeMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(ArmOneJointTrajectoryMessage.class);
registerPacketClass(TrajectoryPoint1DMessage.class);
registerPacketClass(EuclideanTrajectoryPointMessage.class);
registerPacketClass(SO3TrajectoryPointMessage.class);
registerPacketClass(SE3TrajectoryPointMessage.class);
registerPacketClass(BodyPart.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(ArmOneJointTrajectoryMessage.class);
registerPacketField(ArmOneJointTrajectoryMessage[].class);
registerPacketField(TrajectoryPoint1DMessage.class);
registerPacketField(TrajectoryPoint1DMessage[].class);
registerPacketField(EuclideanTrajectoryPointMessage.class);
registerPacketField(EuclideanTrajectoryPointMessage[].class);
registerPacketField(SO3TrajectoryPointMessage.class);
registerPacketField(SO3TrajectoryPointMessage[].class);
registerPacketField(SE3TrajectoryPointMessage.class);
registerPacketField(SE3TrajectoryPointMessage[].class);
registerPacketField(BodyPart.class);
=======
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(ArmOneJointTrajectoryMessage.class);
registerPacketClass(TrajectoryPoint1DMessage.class);
registerPacketClass(EuclideanTrajectoryPointMessage.class);
registerPacketClass(SO3TrajectoryPointMessage.class);
registerPacketClass(SE3TrajectoryPointMessage.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(ArmOneJointTrajectoryMessage.class);
registerPacketField(ArmOneJointTrajectoryMessage[].class);
registerPacketField(TrajectoryPoint1DMessage.class);
registerPacketField(TrajectoryPoint1DMessage[].class);
registerPacketField(EuclideanTrajectoryPointMessage.class);
registerPacketField(EuclideanTrajectoryPointMessage[].class);
registerPacketField(SO3TrajectoryPointMessage.class);
registerPacketField(SO3TrajectoryPointMessage[].class);
registerPacketField(SE3TrajectoryPointMessage.class);
registerPacketField(SE3TrajectoryPointMessage[].class);
>>>>>>>
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(LoadBearingRequest.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(PelvisOrientationTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
registerPacketClass(GoHomeMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(ArmOneJointTrajectoryMessage.class);
registerPacketClass(TrajectoryPoint1DMessage.class);
registerPacketClass(EuclideanTrajectoryPointMessage.class);
registerPacketClass(SO3TrajectoryPointMessage.class);
registerPacketClass(SE3TrajectoryPointMessage.class);
registerPacketClass(BodyPart.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(ArmOneJointTrajectoryMessage.class);
registerPacketField(ArmOneJointTrajectoryMessage[].class);
registerPacketField(TrajectoryPoint1DMessage.class);
registerPacketField(TrajectoryPoint1DMessage[].class);
registerPacketField(EuclideanTrajectoryPointMessage.class);
registerPacketField(EuclideanTrajectoryPointMessage[].class);
registerPacketField(SO3TrajectoryPointMessage.class);
registerPacketField(SO3TrajectoryPointMessage[].class);
registerPacketField(SE3TrajectoryPointMessage.class);
registerPacketField(SE3TrajectoryPointMessage[].class);
registerPacketField(BodyPart.class);
<<<<<<<
registerPacketClass(FootstepDataMessage.class);
=======
registerPacketClass(FootstepDataMessage.class);
registerPacketField(FootstepOrigin.class);
>>>>>>>
registerPacketClass(FootstepDataMessage.class);
registerPacketField(FootstepOrigin.class); |
<<<<<<<
byte[] myData = serializedSnapshot();
byte[] otherData = m.serializedSnapshot();
if (Arrays.equals(row, m.row) && entries == m.entries && Arrays.equals(myData, otherData)) {
// If two mutations don't have the same
if (!replicationSources.equals(m.replicationSources)) {
return false;
}
=======
ByteBuffer myData = serializedSnapshot();
ByteBuffer otherData = m.serializedSnapshot();
if (Arrays.equals(row, m.row) && entries == m.entries && myData.equals(otherData)) {
>>>>>>>
ByteBuffer myData = serializedSnapshot();
ByteBuffer otherData = m.serializedSnapshot();
if (Arrays.equals(row, m.row) && entries == m.entries && myData.equals(otherData)) {
// If two mutations don't have the same
if (!replicationSources.equals(m.replicationSources)) {
return false;
}
<<<<<<<
/**
* Converts this mutation to Thrift.
*
* @return Thrift mutation
*/
=======
/**
* Creates a {@link org.apache.accumulo.core.data.thrift.TMutation} object
* containing this Mutation's data.
*
* Note that this method will move the Mutation into a "serialized" state
* that will prevent users from adding more data via Mutation#put().
*
* @return a thrift form of this Mutation
*/
>>>>>>>
/**
* Creates a {@link org.apache.accumulo.core.data.thrift.TMutation} object
* containing this Mutation's data.
*
* Note that this method will move the Mutation into a "serialized" state
* that will prevent users from adding more data via Mutation#put().
*
* @return a thrift form of this Mutation
*/
<<<<<<<
TMutation tmutation = new TMutation(java.nio.ByteBuffer.wrap(row), java.nio.ByteBuffer.wrap(data), ByteBufferUtil.toByteBuffers(values), entries);
if (!this.replicationSources.isEmpty()) {
tmutation.setSources(new ArrayList<>(replicationSources));
}
return tmutation;
=======
ByteBuffer data = serializedSnapshot();
return new TMutation(ByteBuffer.wrap(row), data, ByteBufferUtil.toByteBuffers(values), entries);
>>>>>>>
ByteBuffer data = serializedSnapshot();
TMutation tmutation = new TMutation(ByteBuffer.wrap(row), data, ByteBufferUtil.toByteBuffers(values), entries);
if (!this.replicationSources.isEmpty()) {
tmutation.setSources(new ArrayList<>(replicationSources));
}
return tmutation; |
<<<<<<<
import us.ihmc.robotEnvironmentAwareness.updaters.LIDARBasedREAModule;
import us.ihmc.robotics.geometry.PlanarRegionsList;
=======
>>>>>>>
import us.ihmc.robotics.geometry.PlanarRegionsList;
<<<<<<<
super(true);
}
=======
new ROS2Callback<>(ros2Node, PlanarRegionsListMessage.class, null, ROS2Tools.REA, this::acceptPlanarRegions);
>>>>>>>
super(true);
} |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.commons.PrintTools;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePoint2d;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
private static final FrameVector3D zeroVector = new FrameVector3D();
=======
private static final FrameVector zeroVector = new FrameVector();
private static final FrameEuclideanTrajectoryPoint tempVariableForSetting = new FrameEuclideanTrajectoryPoint();
private static final int maxNumberOfTrajectoryPoints = 10;
private final List<CoPPointName> copPointsList = new ArrayList<>(maxNumberOfTrajectoryPoints); // List of CoP way points defined for this footstep. Hopefully this does not create garbage
>>>>>>>
private static final FrameVector3D zeroVector = new FrameVector3D();
private static final FrameEuclideanTrajectoryPoint tempVariableForSetting = new FrameEuclideanTrajectoryPoint();
private static final int maxNumberOfTrajectoryPoints = 10;
private final List<CoPPointName> copPointsList = new ArrayList<>(maxNumberOfTrajectoryPoints); // List of CoP way points defined for this footstep. Hopefully this does not create garbage |
<<<<<<<
private final YoFrameTrajectory3D segmentCoMTrajectory;
private final YoFrameTrajectory3D segmentCoMVelocity;
private final YoFrameTrajectory3D phaseSwingFootTrajectory;
private final YoFrameTrajectory3D segmentSwingFootTrajectory;
private final YoTrajectory swingLiftTrajectory;
private final YoFrameTrajectory3D swingFootVelocity;
private final YoFrameTrajectory3D phaseSupportFootTrajectory;
private final YoFrameTrajectory3D segmentSupportFootTrajectory;
private final YoFrameTrajectory3D supportFootVelocity;
private final YoFrameTrajectory3D estimatedAngularMomentumTrajectory;
=======
private final FrameTrajectory3D segmentCoMTrajectory;
private final FrameTrajectory3D segmentCoMVelocity;
private final FrameTrajectory3D swingFootTrajectory;
private final Trajectory swingLiftTrajectory;
private final FrameTrajectory3D swingFootVelocity;
private final FrameTrajectory3D supportFootTrajectory;
private final FrameTrajectory3D supportFootVelocity;
private final FrameTrajectory3D estimatedAngularMomentumTrajectory;
private final FrameTrajectory3D previousEstimatedTransferTrajectory; // needed to compute the first double support trajectory segment
private final FramePoint3D previousFinalReferenceCoP = new FramePoint3D();
>>>>>>>
private final FrameTrajectory3D segmentCoMTrajectory;
private final FrameTrajectory3D segmentCoMVelocity;
private final FrameTrajectory3D phaseSwingFootTrajectory;
private final FrameTrajectory3D segmentSwingFootTrajectory;
private final Trajectory swingLiftTrajectory;
private final FrameTrajectory3D swingFootVelocity;
private final FrameTrajectory3D phaseSupportFootTrajectory;
private final FrameTrajectory3D segmentSupportFootTrajectory;
private final FrameTrajectory3D supportFootVelocity;
private final FrameTrajectory3D estimatedAngularMomentumTrajectory;
<<<<<<<
this.segmentCoMTrajectory = new YoFrameTrajectory3D(namePrefix + "EstSegmentTrajectory", maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.segmentCoMVelocity = new YoFrameTrajectory3D(namePrefix + "EstSegmentCoMVelocity", maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.phaseSwingFootTrajectory = new YoFrameTrajectory3D(namePrefix + "EstPhaseSwingTrajectory", 2 * maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.segmentSwingFootTrajectory = new YoFrameTrajectory3D(namePrefix + "EstSegmentSwingTrajectory", 2 * maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.swingFootVelocity = new YoFrameTrajectory3D(namePrefix + "EstSegmentSwingVelocity", maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.swingLiftTrajectory = new YoTrajectory(namePrefix + "SwingFootLiftTraj", maxNumberOfTrajectoryCoefficients, registry);
this.phaseSupportFootTrajectory = new YoFrameTrajectory3D(namePrefix + "EstPhaseSupportTrajectory", 2 * maxNumberOfTrajectoryCoefficients, worldFrame,
registry);
this.segmentSupportFootTrajectory = new YoFrameTrajectory3D(namePrefix + "EstSegmentSupportTrajectory", 2 * maxNumberOfTrajectoryCoefficients, worldFrame,
registry);
this.supportFootVelocity = new YoFrameTrajectory3D(namePrefix + "EstSegmentSupportVelocity", maxNumberOfTrajectoryCoefficients, worldFrame, registry);
this.estimatedAngularMomentumTrajectory = new YoFrameTrajectory3D("EstSegmentAngularMomenetum", 2 * maxNumberOfTrajectoryCoefficients, worldFrame,
registry);
=======
this.segmentCoMTrajectory = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.segmentCoMVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.swingFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.swingFootVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.swingLiftTrajectory = new Trajectory(maxNumberOfTrajectoryCoefficients);
this.supportFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.supportFootVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.estimatedAngularMomentumTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.previousEstimatedTransferTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
>>>>>>>
this.segmentCoMTrajectory = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.segmentCoMVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.phaseSwingFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.segmentSwingFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.swingFootVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.swingLiftTrajectory = new Trajectory(maxNumberOfTrajectoryCoefficients);
this.phaseSupportFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.segmentSupportFootTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
this.supportFootVelocity = new FrameTrajectory3D(maxNumberOfTrajectoryCoefficients, worldFrame);
this.estimatedAngularMomentumTrajectory = new FrameTrajectory3D(2 * maxNumberOfTrajectoryCoefficients, worldFrame);
<<<<<<<
setAngularMomentumTrajectoryForFootsteps(footstepIndex, WalkingTrajectoryType.TRANSFER);
=======
if (!computePredictedAngularMomentum.getBooleanValue())
return;
else if (atAStop && numberOfRegisteredFootsteps.getIntegerValue() == 0)
{
// Set all segments of one transfer angular momentum trajectories to zero as this is only a transfer trajectory
double segmentStartTime = 0.0;
//upcomingCoPsInFootsteps.get(footstepIndex).get(0).getPosition(tempFramePoint1);
tempFramePoint1.setToZero();
for (int i = 0; i < upcomingCoPsInFootsteps.get(footstepIndex + 1).getCoPPointList().size(); i++)
{
upcomingCoPsInFootsteps.get(footstepIndex + 1).get(i).getPosition(tempFramePoint2);
transferAngularMomentumTrajectories.get(footstepIndex).set(segmentStartTime,
segmentStartTime + upcomingCoPsInFootsteps.get(footstepIndex + 1).get(i).getTime(),
tempFramePoint1, tempFramePoint1);
//tempFramePoint1.setIncludingFrame(tempFramePoint2);
segmentStartTime += upcomingCoPsInFootsteps.get(footstepIndex + 1).get(i).getTime();
}
return;
}
if (atAStop)
{
upcomingCoPsInFootsteps.get(footstepIndex).get(0).getPosition(previousFinalReferenceCoP);
previousFirstTransferEndTime = 0.0;
updateCurrentSegmentTimes(footstepIndex);
currentSecondTransferSegmentDuration += upcomingCoPsInFootsteps.get(footstepIndex + 1).get(0).getTime();
currentFootstepTime += upcomingCoPsInFootsteps.get(footstepIndex + 1).get(0).getTime();
additionalInitialSwingTime = upcomingCoPsInFootsteps.get(footstepIndex + 1).get(0).getTime();
computeAngularMomentumApproximationForFootstep(footstepIndex);
footstepIndex++;
}
else
{
additionalInitialSwingTime = 0.0;
upcomingCoPsInFootsteps.get(footstepIndex).get(CoPPlanningTools.getCoPPointIndex(upcomingCoPsInFootsteps.get(footstepIndex).getCoPPointList(),
trajectoryFinalApproachReference))
.getPosition(previousFinalReferenceCoP);
// This is only in case someone does some weird stuff with the state machine as in the JIT warmup. It will lead to a jump in the planner
if (previousEstimatedTransferTrajectory.isValidTrajectory())
{
transferAngularMomentumTrajectories.get(footstepIndex).set(previousEstimatedTransferTrajectory);
previousFirstTransferEndTime = previousEstimatedTransferTrajectory.getFinalTime();
}
else
{
previousFirstTransferEndTime = upcomingCoPsInFootsteps.get(footstepIndex + 1)
.get(CoPPlanningTools.getCoPPointIndex(upcomingCoPsInFootsteps.get(footstepIndex + 1)
.getCoPPointList(),
endCoPName))
.getTime();
previousEstimatedTransferTrajectory.setConstant(0.0, previousFirstTransferEndTime, previousFinalReferenceCoP);
transferAngularMomentumTrajectories.get(footstepIndex).set(previousEstimatedTransferTrajectory);
}
if (DEBUG)
{
transferCoMTrajectories.get(footstepIndex).set(comTrajDebug);
transferSwingFootTrajectories.get(footstepIndex).set(swingTrajDebug);
transferSupportFootTrajectories.get(footstepIndex).set(supportTrajDebug);
}
}
computeAngularMomentumApproximationForUpcomingFootsteps(footstepIndex);
>>>>>>>
setAngularMomentumTrajectoryForFootsteps(footstepIndex, WalkingTrajectoryType.TRANSFER);
<<<<<<<
setAngularMomentumTrajectoryForFootsteps(footstepIndex, WalkingTrajectoryType.SWING);
=======
previousFirstTransferEndTime = 0.0;
updateCurrentSegmentTimes(footstepIndex);
currentSecondTransferSegmentDuration += additionalInitialSwingTime;
currentFootstepTime += additionalInitialSwingTime;
computeAngularMomentumApproximationForFootstep(footstepIndex);
previousEstimatedTransferTrajectory.set(transferAngularMomentumTrajectories.get(footstepIndex + 1).getSegment(0));
if(DEBUG)
{
comTrajDebug.set(transferCoMTrajectories.get(footstepIndex + 1).getSegment(0));
swingTrajDebug.set(transferSwingFootTrajectories.get(footstepIndex + 1).getSegment(0));
supportTrajDebug.set(transferSupportFootTrajectories.get(footstepIndex + 1).getSegment(0));
}
footstepIndex++;
computeAngularMomentumApproximationForUpcomingFootsteps(footstepIndex);
>>>>>>>
setAngularMomentumTrajectoryForFootsteps(footstepIndex, WalkingTrajectoryType.SWING);
<<<<<<<
segmentSwingFootTrajectory.set(phaseSwingFootTrajectory);
segmentSwingFootTrajectory.setTime(initialTime, finalTime);
trajMathTools.getDerivative(swingFootVelocity, segmentSwingFootTrajectory);
segmentSupportFootTrajectory.set(phaseSupportFootTrajectory);
segmentSupportFootTrajectory.setTime(initialTime, finalTime);
trajMathTools.getDerivative(supportFootVelocity, segmentSupportFootTrajectory);
=======
getCoMEstimationWaypoints(footstepIndex);
segmentCoMTrajectory.setQuinticWithZeroTerminalAcceleration(startTime, startTime + currentFootstepTime, tempFramePoint1, tempFrameVector1, tempFramePoint2,
tempFrameVector2);
segmentCoMTrajectory.setTime(startTime, startTime + currentSecondTransferSegmentDuration);
trajMathTools.getDerivative(segmentCoMVelocity, segmentCoMTrajectory);
if (DEBUG)
transferCoMTrajectories.get(footstepIndex).set(segmentCoMTrajectory);
>>>>>>>
segmentSwingFootTrajectory.set(phaseSwingFootTrajectory);
segmentSwingFootTrajectory.setTime(initialTime, finalTime);
trajMathTools.getDerivative(swingFootVelocity, segmentSwingFootTrajectory);
segmentSupportFootTrajectory.set(phaseSupportFootTrajectory);
segmentSupportFootTrajectory.setTime(initialTime, finalTime);
trajMathTools.getDerivative(supportFootVelocity, segmentSupportFootTrajectory);
<<<<<<<
public void getPredictedCenterOfMassPosition(double time)
{
if (DEBUG && computePredictedAngularMomentum.getBooleanValue())
{
activeCoMTrajectory.update(time - initialTime, tempFramePointForCoMPosDebug, tempFramePointForCoMVelDebug, tempFramePointForCoMAccDebug);
comPosDebug.set(tempFramePointForCoMPosDebug);
comVelDebug.set(tempFramePointForCoMVelDebug);
comAccDebug.set(tempFramePointForCoMAccDebug);
}
}
=======
>>>>>>>
public void getPredictedCenterOfMassPosition(double time)
{
if (DEBUG && computePredictedAngularMomentum.getBooleanValue())
{
activeCoMTrajectory.update(time - initialTime, tempFramePointForCoMPosDebug, tempFramePointForCoMVelDebug, tempFramePointForCoMAccDebug);
comPosDebug.set(tempFramePointForCoMPosDebug);
comVelDebug.set(tempFramePointForCoMVelDebug);
comAccDebug.set(tempFramePointForCoMAccDebug);
}
} |
<<<<<<<
=======
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.smoothICPGenerator.CapturePointTools;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry;
>>>>>>>
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry;
<<<<<<<
import us.ihmc.simulationconstructionset.yoUtilities.graphics.YoGraphicsListRegistry;
=======
import us.ihmc.robotics.screwTheory.RigidBody;
>>>>>>> |
<<<<<<<
boolean replicationEnabled = ReplicationConfigurationUtil.isEnabled(extent,
this.tableConfiguration);
TabletFiles tabletPaths = new TabletFiles(data.getDirectory(), data.getLogEntries(),
data.getDataFiles());
tabletPaths = VolumeUtil.updateTabletVolumes(tabletServer.getContext(), tabletServer.getLock(),
fs, extent, tabletPaths, replicationEnabled);
=======
boolean replicationEnabled =
ReplicationConfigurationUtil.isEnabled(extent, this.tableConfiguration);
TabletFiles tabletPaths =
new TabletFiles(data.getDirectory(), data.getLogEntris(), data.getDataFiles());
tabletPaths = VolumeUtil.updateTabletVolumes(tabletServer, tabletServer.getLock(), fs, extent,
tabletPaths, replicationEnabled);
>>>>>>>
boolean replicationEnabled =
ReplicationConfigurationUtil.isEnabled(extent, this.tableConfiguration);
TabletFiles tabletPaths =
new TabletFiles(data.getDirectory(), data.getLogEntries(), data.getDataFiles());
tabletPaths = VolumeUtil.updateTabletVolumes(tabletServer.getContext(), tabletServer.getLock(),
fs, extent, tabletPaths, replicationEnabled);
<<<<<<<
String[] tokens = new String(context.getZooReaderWriter().getData(zTablePath, null), UTF_8)
.split(",");
=======
String[] tokens =
new String(ZooReaderWriter.getInstance().getData(zTablePath, null), UTF_8).split(",");
>>>>>>>
String[] tokens =
new String(context.getZooReaderWriter().getData(zTablePath, null), UTF_8).split(",");
<<<<<<<
Pair<List<LogEntry>,SortedMap<FileRef,DataFileValue>> fileLog = MetadataTableUtil
.getFileAndLogEntries(context, extent);
=======
Pair<List<LogEntry>,SortedMap<FileRef,DataFileValue>> fileLog =
MetadataTableUtil.getFileAndLogEntries(tabletServer, extent);
>>>>>>>
Pair<List<LogEntry>,SortedMap<FileRef,DataFileValue>> fileLog =
MetadataTableUtil.getFileAndLogEntries(context, extent);
<<<<<<<
try (FileSKVIterator openReader = fileFactory.newReaderBuilder()
.forFile(file.path().toString(), ns, ns.getConf(), context.getCryptoService())
.withTableConfiguration(this.getTableConfiguration()).seekToBeginning().build()) {
=======
FileSKVIterator openReader =
fileFactory.newReaderBuilder().forFile(file.path().toString(), ns, ns.getConf())
.withTableConfiguration(this.getTableConfiguration()).seekToBeginning().build();
try {
>>>>>>>
try (FileSKVIterator openReader = fileFactory.newReaderBuilder()
.forFile(file.path().toString(), ns, ns.getConf(), context.getCryptoService())
.withTableConfiguration(this.getTableConfiguration()).seekToBeginning().build()) {
<<<<<<<
MajorCompactionRequest request = new MajorCompactionRequest(extent, reason,
tableConfiguration, context);
=======
MajorCompactionRequest request =
new MajorCompactionRequest(extent, reason, fs, tableConfiguration);
>>>>>>>
MajorCompactionRequest request =
new MajorCompactionRequest(extent, reason, tableConfiguration, context);
<<<<<<<
FileRef fileName = getNextMapFilename(
(filesToCompact.size() == 0 && !propogateDeletes) ? "A" : "C");
FileRef compactTmpName = new FileRef(fileName.path() + "_tmp");
=======
FileRef fileName =
getNextMapFilename((filesToCompact.size() == 0 && !propogateDeletes) ? "A" : "C");
FileRef compactTmpName = new FileRef(fileName.path().toString() + "_tmp");
>>>>>>>
FileRef fileName =
getNextMapFilename((filesToCompact.size() == 0 && !propogateDeletes) ? "A" : "C");
FileRef compactTmpName = new FileRef(fileName.path() + "_tmp");
<<<<<<<
double tracePercent = tabletServer.getConfiguration()
.getFraction(Property.TSERV_MAJC_TRACE_PERCENT);
ProbabilitySampler sampler = TraceUtil.probabilitySampler(tracePercent);
try (TraceScope span = Trace.startSpan("majorCompaction", sampler)) {
=======
Span span = null;
try {
double tracePercent =
tabletServer.getConfiguration().getFraction(Property.TSERV_MAJC_TRACE_PERCENT);
ProbabilitySampler sampler = new ProbabilitySampler(tracePercent);
span = Trace.on("majorCompaction", sampler);
>>>>>>>
double tracePercent =
tabletServer.getConfiguration().getFraction(Property.TSERV_MAJC_TRACE_PERCENT);
ProbabilitySampler sampler = TraceUtil.probabilitySampler(tracePercent);
try (TraceScope span = Trace.startSpan("majorCompaction", sampler)) {
<<<<<<<
Map<FileRef,FileUtil.FileInfo> firstAndLastRows = FileUtil.tryToGetFirstAndLastRows(context,
getDatafileManager().getFiles());
=======
Map<FileRef,FileUtil.FileInfo> firstAndLastRows =
FileUtil.tryToGetFirstAndLastRows(getTabletServer().getFileSystem(),
getTabletServer().getConfiguration(), getDatafileManager().getFiles());
>>>>>>>
Map<FileRef,FileUtil.FileInfo> firstAndLastRows =
FileUtil.tryToGetFirstAndLastRows(context, getDatafileManager().getFiles());
<<<<<<<
splitPoint = new SplitRowSpec(
FileUtil.estimatePercentageLTE(context, tabletDirectory, extent.getPrevEndRow(),
extent.getEndRow(), FileUtil.toPathStrings(getDatafileManager().getFiles()), tsp),
tsp);
=======
splitPoint =
new SplitRowSpec(FileUtil.estimatePercentageLTE(getTabletServer().getFileSystem(),
getTabletServer().getConfiguration(), extent.getPrevEndRow(), extent.getEndRow(),
FileUtil.toPathStrings(getDatafileManager().getFiles()), tsp), tsp);
>>>>>>>
splitPoint = new SplitRowSpec(
FileUtil.estimatePercentageLTE(context, tabletDirectory, extent.getPrevEndRow(),
extent.getEndRow(), FileUtil.toPathStrings(getDatafileManager().getFiles()), tsp),
tsp);
<<<<<<<
String lowDirectory = createTabletDirectory(context, getTabletServer().getFileSystem(),
extent.getTableId(), midRow);
=======
String lowDirectory =
createTabletDirectory(getTabletServer().getFileSystem(), extent.getTableId(), midRow);
>>>>>>>
String lowDirectory = createTabletDirectory(context, getTabletServer().getFileSystem(),
extent.getTableId(), midRow); |
<<<<<<<
robotInterface.pitchHeadWithRespectToChest(0.8);
=======
behaviorStateReference.broadcast();
robotInterface.pitchHeadWithRespectToChest(0.38);
>>>>>>>
behaviorStateReference.broadcast();
robotInterface.pitchHeadWithRespectToChest(0.8); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FrameTuple3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
=======
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.graphicsDescription.appearance.YoAppearance;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition.GraphicType;
>>>>>>>
import us.ihmc.euclid.referenceFrame.FrameTuple3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.graphicsDescription.appearance.YoAppearance;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition.GraphicType;
<<<<<<<
private final YoBoolean areCoMDynamicsSatisfied;
public SmoothCMPBasedICPPlanner(FullHumanoidRobotModel fullRobotModel, BipedSupportPolygons bipedSupportPolygons,
=======
public SmoothCMPBasedICPPlanner(FullRobotModel fullRobotModel, BipedSupportPolygons bipedSupportPolygons,
>>>>>>>
private final YoBoolean areCoMDynamicsSatisfied;
public SmoothCMPBasedICPPlanner(FullRobotModel fullRobotModel, BipedSupportPolygons bipedSupportPolygons,
<<<<<<<
referenceCoMGenerator.setNumberOfRegisteredSteps(referenceCoPGenerator.getNumberOfFootstepsRegistered());
referenceCoMGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(),
referenceCMPGenerator.getSwingCMPTrajectories(), referenceICPGenerator.getICPPositionDesiredInitialList(),
referenceICPGenerator.getICPPositionDesiredFinalList());
=======
referenceICPGenerator.initializeCenterOfMass();
referenceICPGenerator.getICPPhaseEntryCornerPoints(icpPhaseEntryCornerPoints);
referenceICPGenerator.getICPPhaseExitCornerPoints(icpPhaseExitCornerPoints);
// TODO implement requested hold position
// TODO implement is done walking
>>>>>>>
referenceCoMGenerator.setNumberOfRegisteredSteps(referenceCoPGenerator.getNumberOfFootstepsRegistered());
referenceCoMGenerator.initializeForTransfer(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(),
referenceCMPGenerator.getSwingCMPTrajectories(), referenceICPGenerator.getICPPositionDesiredInitialList(),
referenceICPGenerator.getICPPositionDesiredFinalList());
referenceICPGenerator.getICPPhaseEntryCornerPoints(icpPhaseEntryCornerPoints);
referenceICPGenerator.getICPPhaseExitCornerPoints(icpPhaseExitCornerPoints);
// TODO implement requested hold position
// TODO implement is done walking
<<<<<<<
referenceCoMGenerator.setNumberOfRegisteredSteps(referenceCoPGenerator.getNumberOfFootstepsRegistered());
referenceCoMGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(),
referenceICPGenerator.getICPPositionDesiredFinalList());
=======
referenceICPGenerator.initializeCenterOfMass();
referenceICPGenerator.getICPPhaseEntryCornerPoints(icpPhaseEntryCornerPoints);
referenceICPGenerator.getICPPhaseExitCornerPoints(icpPhaseExitCornerPoints);
>>>>>>>
referenceCoMGenerator.setNumberOfRegisteredSteps(referenceCoPGenerator.getNumberOfFootstepsRegistered());
referenceCoMGenerator.initializeForSwing(ZERO_TIME, referenceCMPGenerator.getTransferCMPTrajectories(), referenceCMPGenerator.getSwingCMPTrajectories(),
referenceICPGenerator.getICPPositionDesiredInitialList(),
referenceICPGenerator.getICPPositionDesiredFinalList());
referenceICPGenerator.getICPPhaseEntryCornerPoints(icpPhaseEntryCornerPoints);
referenceICPGenerator.getICPPhaseExitCornerPoints(icpPhaseExitCornerPoints); |
<<<<<<<
=======
FootstepDataListMessage footstepDataList = createFootstepsForWalkingOverEasySteppingStones(swingTime, transferTime);
footstepDataList.setAreFootstepsAdjustable(true);
drcSimulationTestHelper.publishToController(footstepDataList);
assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0));
>>>>>>>
FootstepDataListMessage footstepDataList = createFootstepsForWalkingOverEasySteppingStones(swingTime, transferTime);
footstepDataList.setAreFootstepsAdjustable(true);
drcSimulationTestHelper.publishToController(footstepDataList);
assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0)); |
<<<<<<<
public void init(SubScene subScene, ROS2Node ros2Node, DRCRobotModel robotModel)
=======
public void init(AnchorPane mainAnchorPane, SubScene subScene, Ros2Node ros2Node, DRCRobotModel robotModel)
>>>>>>>
public void init(AnchorPane mainAnchorPane, SubScene subScene, ROS2Node ros2Node, DRCRobotModel robotModel) |
<<<<<<<
import java.security.SecureRandom;
=======
import static org.junit.Assert.assertTrue;
>>>>>>>
import static org.junit.Assert.assertTrue;
import java.security.SecureRandom; |
<<<<<<<
planarRegionFootstepPlannerParameters = new AtlasFootstepPlannerParameters();
=======
>>>>>>>
planarRegionFootstepPlannerParameters = new AtlasFootstepPlannerParameters(); |
<<<<<<<
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
=======
import us.ihmc.commonWalkingControlModules.momentumBasedController.OrientationTrajectoryData;
import us.ihmc.commonWalkingControlModules.momentumBasedController.RootJointAngularAccelerationControlModule;
import us.ihmc.commonWalkingControlModules.packetConsumers.PelvisPoseProvider;
import us.ihmc.commonWalkingControlModules.packetConsumers.StopAllTrajectoryMessageSubscriber;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisTrajectoryMessage;
>>>>>>>
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
<<<<<<<
=======
import us.ihmc.robotics.math.trajectories.OrientationInterpolationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.OrientationTrajectoryGenerator;
>>>>>>>
<<<<<<<
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.SO3TrajectoryPointInterface;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.TrajectoryPointListInterface;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.screwTheory.RigidBody;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
=======
import us.ihmc.robotics.math.trajectories.providers.YoQuaternionProvider;
import us.ihmc.robotics.math.trajectories.providers.YoVariableDoubleProvider;
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.trajectories.providers.DoubleProvider;
import us.ihmc.robotics.trajectories.providers.OrientationProvider;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
>>>>>>>
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.SO3TrajectoryPointInterface;
import us.ihmc.robotics.math.trajectories.waypoints.interfaces.TrajectoryPointListInterface;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.screwTheory.RigidBody;
import us.ihmc.sensorProcessing.frames.CommonHumanoidReferenceFrames;
<<<<<<<
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
=======
private final DoubleYoVariable offsetTrajectoryTime = new DoubleYoVariable("offsetTrajectoryTime", registry);
private final YoFrameQuaternion initialPelvisOrientationOffset;
private final YoFrameQuaternion finalPelvisOrientationOffset;
private final BooleanYoVariable isUsingWaypointTrajectory;
private OrientationTrajectoryGenerator activeOrientationOffsetTrajectoryGenerator;
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
private final OrientationTrajectoryGenerator pelvisOrientationOffsetTrajectoryGenerator;
>>>>>>>
private final MultipleWaypointsOrientationTrajectoryGenerator waypointOrientationOffsetTrajectoryGenerator;
<<<<<<<
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
=======
private final PelvisPoseProvider pelvisPoseProvider;
private final StopAllTrajectoryMessageSubscriber stopAllTrajectoryMessageSubscriber;
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
>>>>>>>
private final BooleanYoVariable isTrajectoryStopped = new BooleanYoVariable("isPelvisOrientationOffsetTrajectoryStopped", registry);
<<<<<<<
YoVariableRegistry parentRegistry)
=======
PelvisPoseProvider desiredPelvisPoseProvider, StopAllTrajectoryMessageSubscriber stopAllTrajectoryMessageSubscriber, YoVariableRegistry parentRegistry)
>>>>>>>
YoVariableRegistry parentRegistry)
<<<<<<<
=======
this.pelvisPoseProvider = desiredPelvisPoseProvider;
this.stopAllTrajectoryMessageSubscriber = stopAllTrajectoryMessageSubscriber;
YoOrientationPIDGains pelvisOrientationControlGains = walkingControllerParameters.createPelvisOrientationControlGains(registry);
rootJointAngularAccelerationControlModule = new RootJointAngularAccelerationControlModule(momentumBasedController, pelvisOrientationControlGains,
registry);
>>>>>>>
<<<<<<<
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", 15, allowMultipleFrames,
desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
=======
offsetTrajectoryTime.set(defaultTrajectoryTime);
initialPelvisOrientationOffset = new YoFrameQuaternion("initialPelvis", "Offset", desiredPelvisFrame, registry);
finalPelvisOrientationOffset = new YoFrameQuaternion("finalPelvis", "Offset", desiredPelvisFrame, registry);
OrientationProvider initialPelvisOrientationOffsetProvider = new YoQuaternionProvider(initialPelvisOrientationOffset);
OrientationProvider finalPelvisOrientationOffsetProvider = new YoQuaternionProvider(finalPelvisOrientationOffset);
DoubleProvider offsetTrajectoryTimeProvider = new YoVariableDoubleProvider(offsetTrajectoryTime);
isUsingWaypointTrajectory = new BooleanYoVariable(getClass().getSimpleName() + "IsUsingWaypointTrajectory", registry);
isUsingWaypointTrajectory.set(false);
pelvisOrientationOffsetTrajectoryGenerator = new OrientationInterpolationTrajectoryGenerator("pelvisOffset", desiredPelvisFrame,
offsetTrajectoryTimeProvider, initialPelvisOrientationOffsetProvider, finalPelvisOrientationOffsetProvider, registry);
pelvisOrientationOffsetTrajectoryGenerator.initialize();
activeOrientationOffsetTrajectoryGenerator = pelvisOrientationOffsetTrajectoryGenerator;
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", allowMultipleFrames, desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
>>>>>>>
boolean allowMultipleFrames = true;
waypointOrientationOffsetTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("pelvisOffset", allowMultipleFrames,
desiredPelvisFrame, registry);
waypointOrientationOffsetTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame);
<<<<<<<
=======
if (isUsingWaypointTrajectory != null)
{
if (isUsingWaypointTrajectory.getBooleanValue())
activeOrientationOffsetTrajectoryGenerator = waypointOrientationOffsetTrajectoryGenerator;
else
activeOrientationOffsetTrajectoryGenerator = pelvisOrientationOffsetTrajectoryGenerator;
}
updateDesireds();
handleStopAllTrajectoryMessage();
rootJointAngularAccelerationControlModule.doControl(orientationTrajectoryData);
}
private void updateDesireds()
{
>>>>>>> |
<<<<<<<
public OrientationFeedbackController(RigidBodyBasics endEffector, WholeBodyControlCoreToolbox toolbox, FeedbackControllerToolbox feedbackControllerToolbox,
YoRegistry parentRegistry)
=======
private final int controllerIndex;
private int currentCommandId;
public OrientationFeedbackController(RigidBodyBasics endEffector, WholeBodyControlCoreToolbox ccToolbox, FeedbackControllerToolbox fbToolbox,
YoVariableRegistry parentRegistry)
>>>>>>>
private final int controllerIndex;
private int currentCommandId;
public OrientationFeedbackController(RigidBodyBasics endEffector, WholeBodyControlCoreToolbox ccToolbox, FeedbackControllerToolbox fbToolbox,
YoRegistry parentRegistry)
<<<<<<<
registry = new YoRegistry(endEffectorName + "OrientationFBController");
dt = toolbox.getControlDT();
gains = feedbackControllerToolbox.getOrientationGains(endEffector, computeIntegralTerm);
=======
registry = new YoVariableRegistry(appendIndex(endEffectorName, controllerIndex) + "OrientationFBController");
dt = ccToolbox.getControlDT();
gains = fbToolbox.getOrCreateOrientationGains(endEffector, controllerIndex, computeIntegralTerm);
>>>>>>>
registry = new YoRegistry(appendIndex(endEffectorName, controllerIndex) + "OrientationFBController");
dt = ccToolbox.getControlDT();
gains = fbToolbox.getOrCreateOrientationGains(endEffector, controllerIndex, computeIntegralTerm); |
<<<<<<<
useContinuousICPAdjustment = new YoBoolean("useContinuousICPAdjustment", registry);
useContinuousICPAdjustment.set(true);
totalNumberOfSegments = new YoInteger(namePrefix + "TotalNumberOfICPSegments", registry);
=======
totalNumberOfCMPSegments = new YoInteger(namePrefix + "TotalNumberOfICPSegments", registry);
>>>>>>>
useContinuousICPAdjustment = new YoBoolean("useContinuousICPAdjustment", registry);
useContinuousICPAdjustment.set(true);
totalNumberOfCMPSegments = new YoInteger(namePrefix + "TotalNumberOfICPSegments", registry);
<<<<<<<
private int numberOfSegmentsSwing0;
public void initializeForSwing(double initialTime, List<CMPTrajectory> transferCMPTrajectories, List<CMPTrajectory> swingCMPTrajectories)
=======
public void initializeForSwing(double initialTime, List<? extends YoSegmentedFrameTrajectory3D> transferCMPTrajectories,
List<? extends YoSegmentedFrameTrajectory3D> swingCMPTrajectories)
>>>>>>>
private int numberOfSegmentsSwing0;
public void initializeForSwing(double initialTime, List<? extends YoSegmentedFrameTrajectory3D> transferCMPTrajectories,
List<? extends YoSegmentedFrameTrajectory3D> swingCMPTrajectories)
<<<<<<<
numberOfSegmentsSwing0 = swingCMPTrajectories.get(0).getNumberOfSegments();
=======
>>>>>>>
numberOfSegmentsSwing0 = swingCMPTrajectories.get(0).getNumberOfSegments();
<<<<<<<
if(isInitialTransfer.getBooleanValue() || !isDoubleSupport.getBooleanValue())
{
icpAdjustmentToolbox.setICPInitialConditions(icpDesiredFinalPositions, cmpTrajectories, numberOfSegmentsSwing0,
isInitialTransfer.getBooleanValue(), omega0.getDoubleValue());
}
if(isInitialTransfer.getBooleanValue() || (isDoubleSupport.getBooleanValue() && useContinuousICPAdjustment.getBooleanValue()))
{
icpAdjustmentToolbox.adjustDesiredTrajectoriesForInitialSmoothing(icpDesiredInitialPositions, icpDesiredFinalPositions,
cmpTrajectories, omega0.getDoubleValue());
}
comToolbox.computeDesiredCenterOfMassCornerPoints(icpDesiredInitialPositions, icpDesiredFinalPositions,
comDesiredInitialPositions, comDesiredFinalPositions,
cmpTrajectories, comPositionDesiredInitialCurrentSegment,
omega0.getDoubleValue());
=======
>>>>>>> |
<<<<<<<
=======
import org.apache.accumulo.fate.zookeeper.ZooReader;
import org.apache.accumulo.harness.AccumuloClusterIT;
import org.apache.accumulo.minicluster.impl.MiniAccumuloClusterImpl;
>>>>>>>
import org.apache.accumulo.harness.AccumuloClusterIT;
import org.apache.accumulo.minicluster.impl.MiniAccumuloClusterImpl; |
<<<<<<<
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
=======
import us.ihmc.robotics.controllers.YoPDGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains;
>>>>>>>
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains; |
<<<<<<<
JUnitTools.assertQuaternionsEqual(desiredOrientationBeforeStop, desiredOrientationAfterStop, 1.0e-3);
assertControlErrorIsLow(scs, chest, 1.0e-2);
=======
EuclidCoreTestTools.assertQuaternionEquals(desiredOrientationBeforeStop, desiredOrientationAfterStop, 5.0e-2);
>>>>>>>
EuclidCoreTestTools.assertQuaternionEquals(desiredOrientationBeforeStop, desiredOrientationAfterStop, 1.0e-3);
assertControlErrorIsLow(scs, chest, 1.0e-2);
<<<<<<<
Quat4d controllerDesiredOrientation = findControllerDesiredOrientation(scs);
FrameOrientation controllerDesiredFrameOrientation = new FrameOrientation(ReferenceFrame.getWorldFrame(), controllerDesiredOrientation);
controllerDesiredFrameOrientation.changeFrame(desiredChestOrientation.getReferenceFrame());
JUnitTools.assertQuaternionsEqual(desiredChestOrientation.getQuaternion(), controllerDesiredFrameOrientation.getQuaternion(), EPSILON_FOR_DESIREDS);
=======
Quaternion controllerDesiredOrientation = findControllerDesiredOrientation(scs);
EuclidCoreTestTools.assertQuaternionEquals(desiredChestOrientation.getQuaternion(), controllerDesiredOrientation, EPSILON_FOR_DESIREDS);
>>>>>>>
Quaternion controllerDesiredOrientation = findControllerDesiredOrientation(scs);
FrameOrientation controllerDesiredFrameOrientation = new FrameOrientation(ReferenceFrame.getWorldFrame(), controllerDesiredOrientation);
controllerDesiredFrameOrientation.changeFrame(desiredChestOrientation.getReferenceFrame());
EuclidCoreTestTools.assertQuaternionEquals(desiredChestOrientation.getQuaternion(), controllerDesiredFrameOrientation.getQuaternion(), EPSILON_FOR_DESIREDS); |
<<<<<<<
import us.ihmc.sensorProcessing.outputData.JointDesiredOutputWriter;
import us.ihmc.sensorProcessing.parameters.DRCRobotSensorInformation;
=======
import us.ihmc.sensorProcessing.parameters.HumanoidRobotSensorInformation;
>>>>>>>
import us.ihmc.sensorProcessing.outputData.JointDesiredOutputWriter;
import us.ihmc.sensorProcessing.parameters.HumanoidRobotSensorInformation; |
<<<<<<<
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.YoFrameTrajectory3D;
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.YoTrajectory;
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
import us.ihmc.robotics.geometry.Direction;
=======
import us.ihmc.yoVariables.variable.YoDouble;
>>>>>>>
<<<<<<<
=======
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePoint2d;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.geometry.FrameVector2d;
>>>>>>> |
<<<<<<<
=======
import us.ihmc.commonWalkingControlModules.controlModules.foot.YoFootOrientationGains;
import us.ihmc.commonWalkingControlModules.controlModules.foot.YoFootPositionGains;
import us.ihmc.commonWalkingControlModules.controlModules.foot.YoFootSE3Gains;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
>>>>>>>
import us.ihmc.euclid.referenceFrame.ReferenceFrame; |
<<<<<<<
import com.crashlytics.android.Crashlytics;
import org.acra.ReportField;
import org.acra.ReportingInteractionMode;
import org.acra.annotation.ReportsCrashes;
import org.acra.sender.HttpSender;
import io.fabric.sdk.android.Fabric;
=======
>>>>>>>
import com.crashlytics.android.Crashlytics;
import io.fabric.sdk.android.Fabric;
<<<<<<<
Fabric.with(this, new Crashlytics());
// The following line triggers the initialization of ACRA
// ACRA.init(this);
=======
//Fabric.with(this, new Crashlytics());
>>>>>>>
Fabric.with(this, new Crashlytics()); |
<<<<<<<
BlueJayEntry.sendNotifyIfEnabled(THINJAM_NOTIFY_TYPE_CANCEL, "C");
MiBand.sendCall(MIBAND_NOTIFY_TYPE_CANCEL, "");
=======
BlueJayEntry.cancelNotifyIfEnabled();
>>>>>>>
BlueJayEntry.cancelNotifyIfEnabled();
MiBand.sendCall(MIBAND_NOTIFY_TYPE_CANCEL, ""); |
<<<<<<<
options.add(new Intent(context, AlertList.class));
options.add(new Intent(context, SnoozeActivity.class));
options.add(new Intent(context, SettingsActivity.class));
options.add(new Intent(context, FakeNumbers.class));
=======
// options.add(new Intent(context, SettingsActivity.class));
options.add(new Intent(context, Preferences.class));
// options.add(new Intent(context, FakeNumbers.class));
>>>>>>>
options.add(new Intent(context, AlertList.class));
options.add(new Intent(context, SnoozeActivity.class));
options.add(new Intent(context, Preferences.class));
options.add(new Intent(context, FakeNumbers.class)); |
<<<<<<<
if (DexDripDataCharacteristic.equals(characteristic.getUuid())) {
=======
Log.w(TAG, "UUID FOUND: " + characteristic.getUuid());
if (xDripDataCharacteristic.equals(characteristic.getUuid())) {
>>>>>>>
if (xDripDataCharacteristic.equals(characteristic.getUuid())) { |
<<<<<<<
import com.eveningoutpost.dexdrip.tidepool.TidepoolEntry;
=======
import com.eveningoutpost.dexdrip.ui.LockScreenWallPaper;
>>>>>>>
import com.eveningoutpost.dexdrip.ui.LockScreenWallPaper;
import com.eveningoutpost.dexdrip.tidepool.TidepoolEntry;
<<<<<<<
TidepoolEntry.newData();
=======
LockScreenWallPaper.setIfEnabled();
>>>>>>>
LockScreenWallPaper.setIfEnabled();
TidepoolEntry.newData(); |
<<<<<<<
//import android.os.Binder;
=======
import android.os.Binder;
import android.os.Build;
>>>>>>>
import android.os.Binder;
import android.os.Build;
<<<<<<<
Log.w(TAG, "onCreate: STARTING SERVICE");
=======
>>>>>>>
Log.w(TAG, "STARTING SERVICE");
<<<<<<<
if (CollectionServiceStarter.isBTWixel(getApplicationContext())|| CollectionServiceStarter.isDexbridgeWixel(getApplicationContext())) {
=======
if (android.os.Build.VERSION.SDK_INT < Build.VERSION_CODES.KITKAT){
stopSelf();
return START_NOT_STICKY;
}
if (CollectionServiceStarter.isBTWixel(getApplicationContext())) {
>>>>>>>
if (android.os.Build.VERSION.SDK_INT < Build.VERSION_CODES.KITKAT){
stopSelf();
return START_NOT_STICKY;
}
if (CollectionServiceStarter.isBTWixel(getApplicationContext()) || CollectionServiceStarter.isDexbridgeWixel(getApplicationContext())) {
<<<<<<<
alarm.set(AlarmManager.RTC_WAKEUP, calendar.getTimeInMillis() + retry_in, PendingIntent.getService(this, 0, new Intent(this, DexCollectionService.class), 0));
=======
alarm.setExact(alarm.RTC_WAKEUP, calendar.getTimeInMillis() + retry_in, PendingIntent.getService(this, 0, new Intent(this, DexCollectionService.class), 0));
>>>>>>>
alarm.setExact(alarm.RTC_WAKEUP, calendar.getTimeInMillis() + retry_in, PendingIntent.getService(this, 0, new Intent(this, DexCollectionService.class), 0));
<<<<<<<
Log.w(TAG, "setSerialDataToTransmitterRawData: received some data!");
=======
Log.w(TAG, "received some data!");
PowerManager powerManager = (PowerManager) getSystemService(POWER_SERVICE);
PowerManager.WakeLock wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK,
"ReceivedReading");
wakeLock.acquire();
>>>>>>>
Log.w(TAG, "received some data!");
PowerManager powerManager = (PowerManager) getSystemService(POWER_SERVICE);
PowerManager.WakeLock wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK,
"ReceivedReading");
wakeLock.acquire();
<<<<<<<
if (CollectionServiceStarter.isDexbridgeWixel(getApplicationContext())) {
Log.w(TAG, "setSerialDataToTransmitterRawData: Dealing with Dexbridge packet!");
int DexSrc;
int TransmitterID;
String TxId;
Calendar c = Calendar.getInstance();
long secondsNow = c.getTimeInMillis();
ByteBuffer tmpBuffer = ByteBuffer.allocate(len);
tmpBuffer.order(ByteOrder.LITTLE_ENDIAN);
tmpBuffer.put(buffer, 0, len);
ByteBuffer txidMessage = ByteBuffer.allocate(6);
txidMessage.order(ByteOrder.LITTLE_ENDIAN);
if (buffer[0] == 0x07 && buffer[1] == -15) {
//We have a Beacon packet. Get the TXID value and compare with dex_txid
Log.w(TAG, "setSerialDataToTransmitterRawData: Received Beacon packet.");
//DexSrc starts at Byte 2 of a Beacon packet.
DexSrc = tmpBuffer.getInt(2);
TxId = PreferenceManager.getDefaultSharedPreferences(getApplicationContext()).getString("dex_txid", "00000");
TransmitterID = convertSrc(TxId);
if (TxId.compareTo("00000") != 0 && Integer.compare(DexSrc, TransmitterID) != 0) {
Log.w(TAG, "setSerialDataToTransmitterRawData: TXID wrong. Expected " + TransmitterID + " but got " + DexSrc);
txidMessage.put(0, (byte) 0x06);
txidMessage.put(1, (byte) 0x01);
txidMessage.putInt(2, TransmitterID);
sendBtMessage(txidMessage);
}
return;
}
if (buffer[0] == 0x11 && buffer[1] == 0x00) {
//we have a data packet. Check to see if the TXID is what we are expecting.
Log.w(TAG, "setSerialDataToTransmitterRawData: Received Data packet");
//make sure we are not processing a packet we already have
if (secondsNow - lastPacketTime < 60000) {
Log.v(TAG, "setSerialDataToTransmitterRawData: Received Duplicate Packet. Exiting.");
return;
} else {
lastPacketTime = secondsNow;
}
if (len >= 0x11) {
//DexSrc starts at Byte 12 of a data packet.
DexSrc = tmpBuffer.getInt(12);
TxId = PreferenceManager.getDefaultSharedPreferences(getApplicationContext()).getString("dex_txid", "00000");
TransmitterID = convertSrc(TxId);
if (Integer.compare(DexSrc, TransmitterID) != 0) {
Log.w(TAG, "TXID wrong. Expected " + TransmitterID + " but got " + DexSrc);
txidMessage.put(0, (byte) 0x06);
txidMessage.put(1, (byte) 0x01);
txidMessage.putInt(2, TransmitterID);
sendBtMessage(txidMessage);
}
bridgeBattery = ByteBuffer.wrap(buffer).get(11);
//All is OK, so process it.
//first, tell the wixel it is OK to sleep.
Log.d(TAG, "setSerialDataToTransmitterRawData: Sending Data packet Ack, to put wixel to sleep");
ByteBuffer ackMessage = ByteBuffer.allocate(2);
ackMessage.put(0, (byte) 0x02);
ackMessage.put(1, (byte) 0xF0);
sendBtMessage(ackMessage);
timestamp = new Date().getTime();
Log.v(TAG,"setSerialDataToTransmitterRawData: Creating TransmitterData at "+timestamp);
TransmitterData transmitterData = TransmitterData.create(buffer, len, timestamp);
if (transmitterData != null) {
Sensor sensor = Sensor.currentSensor();
if (sensor != null) {
sensor.latest_battery_level = transmitterData.sensor_battery_level;
sensor.save();
BgReading.create(transmitterData.raw_data, transmitterData.filtered_data, this, timestamp);
Intent intent = new Intent("com.eveningoutpost.dexdrip.DexCollectionService.SAVED_BG");
sendBroadcast(intent);
} else {
Log.w(TAG, "setSerialDataToTransmitterRawData: No Active Sensor, Data only stored in Transmitter Data");
}
}
}
}
} else {
TransmitterData transmitterData = TransmitterData.create(buffer, len, timestamp);
//TransmitterData transmitterData = TransmitterData.create(buffer, len);
if (transmitterData != null) {
Sensor sensor = Sensor.currentSensor();
if (sensor != null) {
sensor.latest_battery_level = transmitterData.sensor_battery_level;
sensor.save();
BgReading bgReading = BgReading.create(transmitterData.raw_data, transmitterData.filtered_data, this, timestamp);
Intent intent = new Intent("com.eveningoutpost.dexdrip.DexCollectionService.SAVED_BG");
sendBroadcast(intent);
} else {
Log.w(TAG, "setSerialDataToTransmitterRawData: No Active Sensor, Data only stored in Transmitter Data");
}
=======
TransmitterData transmitterData = TransmitterData.create(buffer, len, timestamp);
if (transmitterData != null) {
Sensor sensor = Sensor.currentSensor();
if (sensor != null) {
sensor.latest_battery_level = transmitterData.sensor_battery_level;
sensor.save();
BgReading.create(transmitterData.raw_data, transmitterData.raw_data, this, timestamp);
} else {
Log.w(TAG, "No Active Sensor, Data only stored in Transmitter Data");
>>>>>>>
if (CollectionServiceStarter.isDexbridgeWixel(getApplicationContext())) {
Log.w(TAG, "setSerialDataToTransmitterRawData: Dealing with Dexbridge packet!");
int DexSrc;
int TransmitterID;
String TxId;
Calendar c = Calendar.getInstance();
long secondsNow = c.getTimeInMillis();
ByteBuffer tmpBuffer = ByteBuffer.allocate(len);
tmpBuffer.order(ByteOrder.LITTLE_ENDIAN);
tmpBuffer.put(buffer, 0, len);
ByteBuffer txidMessage = ByteBuffer.allocate(6);
txidMessage.order(ByteOrder.LITTLE_ENDIAN);
if (buffer[0] == 0x07 && buffer[1] == -15) {
//We have a Beacon packet. Get the TXID value and compare with dex_txid
Log.w(TAG, "setSerialDataToTransmitterRawData: Received Beacon packet.");
//DexSrc starts at Byte 2 of a Beacon packet.
DexSrc = tmpBuffer.getInt(2);
TxId = PreferenceManager.getDefaultSharedPreferences(getApplicationContext()).getString("dex_txid", "00000");
TransmitterID = convertSrc(TxId);
if (TxId.compareTo("00000") != 0 && Integer.compare(DexSrc, TransmitterID) != 0) {
Log.w(TAG, "setSerialDataToTransmitterRawData: TXID wrong. Expected " + TransmitterID + " but got " + DexSrc);
txidMessage.put(0, (byte) 0x06);
txidMessage.put(1, (byte) 0x01);
txidMessage.putInt(2, TransmitterID);
sendBtMessage(txidMessage);
}
return;
}
if (buffer[0] == 0x11 && buffer[1] == 0x00) {
//we have a data packet. Check to see if the TXID is what we are expecting.
Log.w(TAG, "setSerialDataToTransmitterRawData: Received Data packet");
//make sure we are not processing a packet we already have
if (secondsNow - lastPacketTime < 60000) {
Log.v(TAG, "setSerialDataToTransmitterRawData: Received Duplicate Packet. Exiting.");
return;
} else {
lastPacketTime = secondsNow;
}
if (len >= 0x11) {
//DexSrc starts at Byte 12 of a data packet.
DexSrc = tmpBuffer.getInt(12);
TxId = PreferenceManager.getDefaultSharedPreferences(getApplicationContext()).getString("dex_txid", "00000");
TransmitterID = convertSrc(TxId);
if (Integer.compare(DexSrc, TransmitterID) != 0) {
Log.w(TAG, "TXID wrong. Expected " + TransmitterID + " but got " + DexSrc);
txidMessage.put(0, (byte) 0x06);
txidMessage.put(1, (byte) 0x01);
txidMessage.putInt(2, TransmitterID);
sendBtMessage(txidMessage);
}
bridgeBattery = ByteBuffer.wrap(buffer).get(11);
//All is OK, so process it.
//first, tell the wixel it is OK to sleep.
Log.d(TAG, "setSerialDataToTransmitterRawData: Sending Data packet Ack, to put wixel to sleep");
ByteBuffer ackMessage = ByteBuffer.allocate(2);
ackMessage.put(0, (byte) 0x02);
ackMessage.put(1, (byte) 0xF0);
sendBtMessage(ackMessage);
timestamp = new Date().getTime();
Log.v(TAG,"setSerialDataToTransmitterRawData: Creating TransmitterData at "+timestamp);
TransmitterData transmitterData = TransmitterData.create(buffer, len, timestamp);
if (transmitterData != null) {
Sensor sensor = Sensor.currentSensor();
if (sensor != null) {
sensor.latest_battery_level = transmitterData.sensor_battery_level;
sensor.save();
BgReading.create(transmitterData.raw_data, transmitterData.filtered_data, this, timestamp);
Intent intent = new Intent("com.eveningoutpost.dexdrip.DexCollectionService.SAVED_BG");
sendBroadcast(intent);
} else {
Log.w(TAG, "setSerialDataToTransmitterRawData: No Active Sensor, Data only stored in Transmitter Data");
}
}
}
}
} else {
TransmitterData transmitterData = TransmitterData.create(buffer, len, timestamp);
if (transmitterData != null) {
Sensor sensor = Sensor.currentSensor();
if (sensor != null) {
sensor.latest_battery_level = transmitterData.sensor_battery_level;
sensor.save();
BgReading.create(transmitterData.raw_data, transmitterData.raw_data, this, timestamp);
} else {
Log.w(TAG, "No Active Sensor, Data only stored in Transmitter Data");
} |
<<<<<<<
Log.i(TAG, "SERVICE STOPPED");
=======
BgToSpeech.tearDownTTS();
Log.w(TAG, "SERVICE STOPPED");
>>>>>>>
BgToSpeech.tearDownTTS();
Log.i(TAG, "SERVICE STOPPED"); |
<<<<<<<
import com.eveningoutpost.dexdrip.ShareModels.BgUploader;
=======
import com.eveningoutpost.dexdrip.ShareModels.ShareRest;
import com.eveningoutpost.dexdrip.utils.BgToSpeech;
>>>>>>>
import com.eveningoutpost.dexdrip.ShareModels.ShareRest;
import com.eveningoutpost.dexdrip.utils.BgToSpeech;
import com.eveningoutpost.dexdrip.ShareModels.BgUploader; |
<<<<<<<
public static boolean get_show_wear_treatments() {
return getPreferencesBooleanDefaultFalse("wear_sync") &&
getPreferencesBooleanDefaultFalse("show_wear_treatments");
}
=======
public static boolean follower_or_accept_follower() {
return get_follower() || Home.getPreferencesBoolean("plus_accept_follower_actions", true);
}
>>>>>>>
public static boolean get_show_wear_treatments() {
return getPreferencesBooleanDefaultFalse("wear_sync") &&
getPreferencesBooleanDefaultFalse("show_wear_treatments");
}
public static boolean follower_or_accept_follower() {
return get_follower() || Home.getPreferencesBoolean("plus_accept_follower_actions", true);
} |
<<<<<<<
public abstract class AbstractMacIT {
private static final Logger log = Logger.getLogger(AbstractMacIT.class);
=======
public abstract class AbstractMacIT extends AccumuloIT {
public static final Logger log = Logger.getLogger(AbstractMacIT.class);
>>>>>>>
public abstract class AbstractMacIT extends AccumuloIT {
public static final Logger log = Logger.getLogger(AbstractMacIT.class);
<<<<<<<
public static File createSharedTestDir(String name) {
File baseDir = new File(System.getProperty("user.dir") + "/target/mini-tests");
baseDir.mkdirs();
if (name != null)
baseDir = new File(baseDir, name);
File testDir = new File(baseDir, System.currentTimeMillis() + "_" + new Random().nextInt(Short.MAX_VALUE));
FileUtils.deleteQuietly(testDir);
testDir.mkdir();
return testDir;
}
public static File createTestDir(String name) {
File baseDir = new File(System.getProperty("user.dir") + "/target/mini-tests");
baseDir.mkdirs();
if (name == null)
return baseDir;
File testDir = new File(baseDir, name);
FileUtils.deleteQuietly(testDir);
testDir.mkdir();
return testDir;
}
public String[] getUniqueNames(int num) {
String[] names = new String[num];
for (int i = 0; i < num; i++)
names[i] = this.getClass().getSimpleName() + "_" + testName.getMethodName() + i;
return names;
}
public static void configureForEnvironment(MiniAccumuloConfigImpl cfg, File folder) {
=======
protected static void configureForEnvironment(MiniAccumuloConfigImpl cfg, Class<?> testClass, File folder) {
>>>>>>>
public static void configureForEnvironment(MiniAccumuloConfigImpl cfg, Class<?> testClass, File folder) { |
<<<<<<<
import hudson.slaves.SlaveComputer;
=======
import java.util.logging.Level;
import java.util.logging.Logger;
>>>>>>>
import hudson.slaves.SlaveComputer;
import java.util.logging.Level;
import java.util.logging.Logger;
<<<<<<<
public IdleRetentionStrategy(final int maxIdleMinutes, final EC2FleetCloud parent) {
=======
private static final Logger LOGGER = Logger.getLogger(IdleRetentionStrategy.class.getName());
public IdleRetentionStrategy(final int maxIdleMinutes, final EC2Cloud parent) {
>>>>>>>
private static final Logger LOGGER = Logger.getLogger(IdleRetentionStrategy.class.getName());
public IdleRetentionStrategy(final int maxIdleMinutes, final EC2FleetCloud parent) {
<<<<<<<
@Override public long check(final SlaveComputer c) {
if (isIdleForTooLong(c))
parent.terminateInstance(c.getName());
else {
if (c.isOffline() && !c.isConnecting() && c.isLaunchSupported())
c.tryReconnect();
}
=======
@Override public long check(final Computer c) {
if (isIdleForTooLong(c)){
// Split labels and find instance ID
Node compNode = c.getNode();
if (compNode.equals(null)){
return 0;
}
String nodeId = null;
for(String str: c.getNode().getLabelString().split(" ")){
if(str.startsWith("i-")){
nodeId = str;
}
}
if (nodeId.equals(null)){
LOGGER.log(Level.INFO, "Node " + c.getName(), " does not have proper labels");
return 0;
}
LOGGER.log(Level.INFO, "Terminating Fleet instance: " + nodeId);
parent.terminateInstance(nodeId);
}
>>>>>>>
@Override public long check(final SlaveComputer c) {
if (isIdleForTooLong(c)){
// Split labels and find instance ID
Node compNode = c.getNode();
if (compNode.equals(null)){
return 0;
}
String nodeId = null;
for(String str: c.getNode().getLabelString().split(" ")){
if(str.startsWith("i-")){
nodeId = str;
}
}
if (nodeId.equals(null)){
LOGGER.log(Level.INFO, "Node " + c.getName(), " does not have proper labels");
return 0;
}
LOGGER.log(Level.INFO, "Terminating Fleet instance: " + nodeId);
parent.terminateInstance(nodeId);
} else {
if (c.isOffline() && !c.isConnecting() && c.isLaunchSupported())
c.tryReconnect();
} |
<<<<<<<
import net.minecraft.util.ChatComponentText;
import net.minecraft.util.EnumFacing;
import net.minecraft.util.IChatComponent;
import net.minecraft.util.ITickable;
import net.minecraftforge.fml.common.Optional.Interface;
import io.netty.buffer.ByteBuf;
=======
import net.minecraftforge.common.util.ForgeDirection;
>>>>>>>
import net.minecraft.util.ChatComponentText;
import net.minecraft.util.EnumFacing;
import net.minecraft.util.IChatComponent;
import net.minecraft.util.ITickable;
import io.netty.buffer.ByteBuf; |
<<<<<<<
itemRender.renderItemAndEffectIntoGUI(stack, guiWidth + slot.xDisplayPosition, guiHeight + slot.yDisplayPosition);
=======
GL11.glColor4f(1.0F, 1.0F, 1.0F, 0.4F);
itemRender.renderItemAndEffectIntoGUI(fontRendererObj, mc.getTextureManager(), stack, guiWidth + slot.xDisplayPosition, guiHeight + slot.yDisplayPosition);
>>>>>>>
GL11.glColor4f(1.0F, 1.0F, 1.0F, 0.4F);
itemRender.renderItemAndEffectIntoGUI(stack, guiWidth + slot.xDisplayPosition, guiHeight + slot.yDisplayPosition); |
<<<<<<<
import org.apache.accumulo.core.util.Base64;
import org.apache.hadoop.conf.Configuration;
=======
import org.apache.accumulo.core.security.Authorizations;
import org.apache.accumulo.core.util.CachedConfiguration;
import org.apache.accumulo.core.util.Pair;
import org.apache.commons.codec.binary.Base64;
>>>>>>>
import org.apache.accumulo.core.security.Authorizations;
import org.apache.accumulo.core.util.Base64;
import org.apache.accumulo.core.util.Pair;
import org.apache.hadoop.conf.Configuration;
<<<<<<<
import org.junit.Before;
import org.junit.BeforeClass;
=======
import org.apache.log4j.Level;
import org.junit.Assert;
>>>>>>>
import org.apache.log4j.Level;
import org.junit.Assert;
import org.junit.Before;
import org.junit.BeforeClass; |
<<<<<<<
import static com.google.common.base.Preconditions.checkArgument;
import java.nio.charset.StandardCharsets;
=======
import static com.google.common.base.Charsets.UTF_8;
>>>>>>>
import static com.google.common.base.Preconditions.checkArgument;
import static java.nio.charset.StandardCharsets.UTF_8;
<<<<<<<
checkArgument(cf != null, "cf is null");
checkArgument(cq != null, "cq is null");
this.cf = new ArrayByteSequence(cf.toString().getBytes(StandardCharsets.UTF_8));
this.cq = new ArrayByteSequence(cq.toString().getBytes(StandardCharsets.UTF_8));
=======
ArgumentChecker.notNull(cf, cq);
this.cf = new ArrayByteSequence(cf.toString().getBytes(UTF_8));
this.cq = new ArrayByteSequence(cq.toString().getBytes(UTF_8));
>>>>>>>
checkArgument(cf != null, "cf is null");
checkArgument(cq != null, "cq is null");
this.cf = new ArrayByteSequence(cf.toString().getBytes(UTF_8));
this.cq = new ArrayByteSequence(cq.toString().getBytes(UTF_8));
<<<<<<<
checkArgument(value != null, "value is null");
this.val = new ArrayByteSequence(value.toString().getBytes(StandardCharsets.UTF_8));
=======
ArgumentChecker.notNull(value);
this.val = new ArrayByteSequence(value.toString().getBytes(UTF_8));
>>>>>>>
checkArgument(value != null, "value is null");
this.val = new ArrayByteSequence(value.toString().getBytes(UTF_8)); |
<<<<<<<
import mekanism.common.block.states.BlockStateMachine.MachineType;
import mekanism.common.block.states.BlockStateMachine;
=======
import mekanism.common.block.BlockMachine.MachineType;
import mekanism.common.frequency.Frequency;
import mekanism.common.frequency.FrequencyManager;
import mekanism.common.frequency.IFrequencyHandler;
>>>>>>>
import mekanism.common.block.states.BlockStateMachine.MachineType;
import mekanism.common.block.states.BlockStateMachine;
import mekanism.common.frequency.Frequency;
import mekanism.common.frequency.FrequencyManager;
import mekanism.common.frequency.IFrequencyHandler; |
<<<<<<<
import mekanism.common.util.MekanismUtils;
=======
>>>>>>>
import mekanism.common.util.MekanismUtils; |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
>>>>>>> |
<<<<<<<
import net.minecraft.world.World;
import net.minecraft.util.EnumFacing;
=======
import net.minecraftforge.common.util.ForgeDirection;
>>>>>>>
import net.minecraft.util.EnumFacing; |
<<<<<<<
=======
import net.minecraft.client.renderer.texture.IIconRegister;
>>>>>>> |
<<<<<<<
addSlurryTags();
=======
addGasTags();
>>>>>>>
addGasTags();
addSlurryTags(); |
<<<<<<<
fontRendererObj.drawString(tileEntity.getName(), 45, 6, 0x404040);
=======
fontRendererObj.drawString(tileEntity.getInventoryName(), (xSize / 2) - (fontRendererObj.getStringWidth(tileEntity.getInventoryName()) / 2), 6, 0x404040);
>>>>>>>
fontRendererObj.drawString(tileEntity.getName(), (xSize / 2) - (fontRendererObj.getStringWidth(tileEntity.getInventoryName()) / 2), 6, 0x404040); |
<<<<<<<
=======
import mekanism.client.render.tileentity.RenderMetallurgicInfuser;
import mekanism.client.render.tileentity.RenderObsidianTNT;
import mekanism.client.render.tileentity.RenderPersonalChest;
>>>>>>>
import mekanism.client.render.tileentity.RenderPersonalChest;
<<<<<<<
import mekanism.client.render.tileentity.RenderThermalEvaporationController;
=======
import mekanism.client.render.tileentity.RenderQuantumEntangloporter;
import mekanism.client.render.tileentity.RenderResistiveHeater;
import mekanism.client.render.tileentity.RenderRotaryCondensentrator;
import mekanism.client.render.tileentity.RenderSecurityDesk;
>>>>>>>
import mekanism.client.render.tileentity.RenderQuantumEntangloporter;
import mekanism.client.render.tileentity.RenderResistiveHeater;
import mekanism.client.render.tileentity.RenderThermalEvaporationController;
import mekanism.client.render.tileentity.RenderSecurityDesk;
<<<<<<<
if(stack != null && stack.getItem() instanceof IElectricChest && BlockStateMachine.MachineType.get(stack) == BlockStateMachine.MachineType.ELECTRIC_CHEST)
=======
if(MachineType.get(stack) == MachineType.PERSONAL_CHEST)
>>>>>>>
if(MachineType.get(stack) == MachineType.PERSONAL_CHEST)
<<<<<<<
else if(id == 1)
{
if(isBlock)
{
FMLClientHandler.instance().displayGuiScreen(entityplayer, new GuiPasswordEnter(tileEntity));
}
else {
ItemStack stack = entityplayer.getCurrentEquippedItem();
if(stack != null && stack.getItem() instanceof IElectricChest && BlockStateMachine.MachineType.get(stack) == BlockStateMachine.MachineType.ELECTRIC_CHEST)
{
FMLClientHandler.instance().displayGuiScreen(entityplayer, new GuiPasswordEnter(stack));
}
}
}
else if(id == 2)
{
if(isBlock)
{
FMLClientHandler.instance().displayGuiScreen(entityplayer, new GuiPasswordModify(tileEntity));
}
else {
ItemStack stack = entityplayer.getCurrentEquippedItem();
if(stack != null && stack.getItem() instanceof IElectricChest && BlockStateMachine.MachineType.get(stack) == BlockStateMachine.MachineType.ELECTRIC_CHEST)
{
FMLClientHandler.instance().displayGuiScreen(entityplayer, new GuiPasswordModify(stack));
}
}
}
=======
>>>>>>> |
<<<<<<<
import mekanism.common.util.MekanismUtils;
=======
>>>>>>>
import mekanism.common.util.MekanismUtils; |
<<<<<<<
=======
import cpw.mods.fml.common.Optional.Interface;
>>>>>>> |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
import java.util.List;
>>>>>>>
import java.util.List;
<<<<<<<
GasStack stored = GasStack.readFromNBT(itemstack.getTagCompound().getCompoundTag("stored"));
if(stored == null)
{
itemstack.setItemDamage(100);
}
else {
itemstack.setItemDamage((int)Math.max(1, (Math.abs((((float)stored.amount/getMaxGas(itemstack))*100)-100))));
}
return stored;
=======
return GasStack.readFromNBT(itemstack.stackTagCompound.getCompoundTag("stored"));
>>>>>>>
return GasStack.readFromNBT(itemstack.getTagCompound().getCompoundTag("stored"));
<<<<<<<
itemstack.setItemDamage(100);
itemstack.getTagCompound().removeTag("stored");
=======
itemstack.stackTagCompound.removeTag("stored");
>>>>>>>
itemstack.getTagCompound().removeTag("stored");
<<<<<<<
itemstack.setItemDamage((int)Math.max(1, (Math.abs((((float)amount/getMaxGas(itemstack))*100)-100))));
itemstack.getTagCompound().setTag("stored", gasStack.write(new NBTTagCompound()));
=======
itemstack.stackTagCompound.setTag("stored", gasStack.write(new NBTTagCompound()));
>>>>>>>
itemstack.getTagCompound().setTag("stored", gasStack.write(new NBTTagCompound())); |
<<<<<<<
import mekanism.common.MekanismBlocks;
import mekanism.common.block.BlockBasic;
import mekanism.common.block.states.BlockStateBasic;
import mekanism.common.block.states.BlockStateBasic.BasicBlockType;
=======
import mekanism.common.block.BlockBasic.BasicType;
>>>>>>>
import mekanism.common.block.BlockBasic.BasicType;
import mekanism.common.block.BlockBasic;
import mekanism.common.block.states.BlockStateBasic;
import mekanism.common.block.states.BlockStateBasic.BasicBlockType;
<<<<<<<
IBlockState state = pointer.getWorld().getBlockState(new BlockPos(x, y, z));
return state.getBlock() == MekanismBlocks.BasicBlock && state.getValue(((BlockBasic)state.getBlock()).getProperty()) == BasicBlockType.DYNAMIC_TANK;
=======
return BasicType.get(pointer.getWorldObj().getBlock(x, y, z), pointer.getWorldObj().getBlockMetadata(x, y, z)) == BasicType.DYNAMIC_TANK;
>>>>>>>
IBlockState state = pointer.getWorld().getBlockState(new BlockPos(x, y, z));
return state.getBlock() == MekanismBlocks.BasicBlock && state.getValue(((BlockBasic)state.getBlock()).getProperty()) == BasicBlockType.DYNAMIC_TANK; |
<<<<<<<
@Interface(iface = "cofh.redstoneflux.api.IEnergyProvider", modid = "redstoneflux"),
@Interface(iface = "cofh.redstoneflux.api.IEnergyReceiver", modid = "redstoneflux"),
@Interface(iface = "ic2.api.energy.tile.IEnergySink", modid = IC2Integration.MODID)
=======
@Interface(iface = "ic2.api.energy.tile.IEnergySink", modid = MekanismHooks.IC2_MOD_ID)
>>>>>>>
@Interface(iface = "cofh.redstoneflux.api.IEnergyProvider", modid = "redstoneflux"),
@Interface(iface = "cofh.redstoneflux.api.IEnergyReceiver", modid = "redstoneflux"),
@Interface(iface = "ic2.api.energy.tile.IEnergySink", modid = MekanismHooks.IC2_MOD_ID) |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
>>>>>>> |
<<<<<<<
=======
@Nonnull
@Override
public ActionResultType onItemUse(ItemUseContext context) {
return MekanismUtils.performActions(
//First try to use the disassembler as an axe
stripLogsAOE(context),
//Then as a shovel
//Fire a generic use event, if we are allowed to use the tool return zero otherwise return -1
// This is to mirror how onHoeUse returns of 0 if allowed, -1 if not allowed, and 1 if processing happened in the event
() -> tillAOE(context, ShovelItem.SHOVEL_LOOKUP, ctx -> onToolUse(ctx.getPlayer(), ctx.getHand(), ctx.getPos(), ctx.getFace()) ? 0 : -1,
SoundEvents.ITEM_SHOVEL_FLATTEN, MekanismConfig.gear.disassemblerEnergyUsageShovel.get()),
//Finally as a hoe
() -> tillAOE(context, HoeItem.HOE_LOOKUP, ForgeEventFactory::onHoeUse, SoundEvents.ITEM_HOE_TILL, MekanismConfig.gear.disassemblerEnergyUsageHoe.get())
);
}
private ActionResultType tillAOE(ItemUseContext context, Map<Block, BlockState> lookup, ToIntFunction<ItemUseContext> onItemUse, SoundEvent sound, FloatingLong energyUsage) {
PlayerEntity player = context.getPlayer();
if (player == null || player.isShiftKeyDown()) {
//Skip if we don't have a player or they are sneaking
return ActionResultType.PASS;
}
Direction sideHit = context.getFace();
if (sideHit == Direction.DOWN) {
//Don't allow tilling a block from underneath
return ActionResultType.PASS;
}
Hand hand = context.getHand();
ItemStack stack = player.getHeldItem(hand);
int diameter = getMode(stack).getDiameter();
if (diameter == 0) {
//If we don't have any blocks we are going to want to do, then skip it
return ActionResultType.PASS;
}
IEnergyContainer energyContainer = StorageUtils.getEnergyContainer(stack, 0);
if (energyContainer == null) {
return ActionResultType.FAIL;
}
FloatingLong energy = energyContainer.getEnergy();
if (energy.smallerThan(energyUsage)) {
//Fail if we don't have enough energy or using the item failed
return ActionResultType.FAIL;
}
World world = context.getWorld();
BlockPos pos = context.getPos();
BlockState tilledState = lookup.get(world.getBlockState(pos).getBlock());
if (tilledState == null) {
//Skip tilling the blocks if the one we clicked cannot be tilled
return ActionResultType.PASS;
}
BlockPos abovePos = pos.up();
BlockState aboveState = world.getBlockState(abovePos);
//Check to make sure the block above is not opaque
if (aboveState.isOpaqueCube(world, abovePos)) {
//If the block above our source is opaque, just skip tiling in general
return ActionResultType.PASS;
}
int useResult = onItemUse.applyAsInt(context);
if (useResult < 0) {
return ActionResultType.PASS;
} else if (world.isRemote) {
return ActionResultType.SUCCESS;
}
if (useResult == 0) {
//Processing did not happen in the hook so we need to process it
world.setBlockState(pos, tilledState, BlockFlags.DEFAULT_AND_RERENDER);
Material aboveMaterial = aboveState.getMaterial();
if (aboveMaterial == Material.PLANTS || aboveMaterial == Material.TALL_PLANTS) {
world.destroyBlock(abovePos, true);
}
world.playSound(player, pos, sound, SoundCategory.BLOCKS, 1.0F, 1.0F);
}
FloatingLong energyUsed = energyUsage.copy();
int radius = (diameter - 1) / 2;
for (BlockPos newPos : BlockPos.getAllInBoxMutable(pos.add(-radius, 0, -radius), pos.add(radius, 0, radius))) {
if (pos.equals(newPos)) {
//Skip the source position as it is free and we manually handled it before the loop
continue;
}
if (energyUsed.add(energyUsage).greaterThan(energy)) {
break;
}
BlockState stateAbove = world.getBlockState(newPos.up());
//Check to make sure the block above is not opaque and that the result we would get from tilling the other block is
// the same as the one we got on the initial block we interacted with
if (!stateAbove.isOpaqueCube(world, newPos.up()) && tilledState == lookup.get(world.getBlockState(newPos).getBlock())) {
//Some of the below methods don't behave properly when the BlockPos is mutable, so now that we are onto ones where it may actually
// matter we make sure to get an immutable instance of newPos
newPos = newPos.toImmutable();
useResult = onItemUse.applyAsInt(new ItemUseContext(player, hand, new BlockRayTraceResult(Vec3d.ZERO, Direction.UP, newPos, false)));
if (useResult < 0) {
//We were denied from using the item so continue to the next block
continue;
}
//Add energy cost
energyUsed = energyUsed.plusEqual(energyUsage);
if (useResult > 0) {
//Processing happened in the hook so we use our desired fuel amount
continue;
} //else we are allowed to use the item
//Replace the block. Note it just directly sets it (in the same way that HoeItem/ShovelItem do)
world.setBlockState(newPos, tilledState, BlockFlags.DEFAULT_AND_RERENDER);
Material aboveMaterial = stateAbove.getMaterial();
if (aboveMaterial == Material.PLANTS || aboveMaterial == Material.TALL_PLANTS) {
//If the block above the one we tilled is a plant, then we try to remove it
world.destroyBlock(newPos.up(), true);
}
world.playSound(player, newPos, sound, SoundCategory.BLOCKS, 1.0F, 1.0F);
}
}
energyContainer.extract(energyUsed, Action.EXECUTE, AutomationType.MANUAL);
return ActionResultType.SUCCESS;
}
/**
* Strips logs in an AOE using a shovel (ex: grass to grass path). Charge affects the AOE. Optional per-block EMC cost.
*/
private ActionResultType stripLogsAOE(ItemUseContext context) {
PlayerEntity player = context.getPlayer();
if (player == null || player.isShiftKeyDown()) {
//Skip if we don't have a player or they are sneaking
return ActionResultType.PASS;
}
Hand hand = context.getHand();
ItemStack stack = player.getHeldItem(hand);
int diameter = getMode(stack).getDiameter();
if (diameter == 0) {
//If we don't have any blocks we are going to want to do, then skip it
return ActionResultType.PASS;
}
IEnergyContainer energyContainer = StorageUtils.getEnergyContainer(stack, 0);
if (energyContainer == null) {
return ActionResultType.FAIL;
}
FloatingLong energy = energyContainer.getEnergy();
FloatingLong energyUsage = MekanismConfig.gear.disassemblerEnergyUsageAxe.get();
if (energy.smallerThan(energyUsage)) {
//Fail if we don't have enough energy or using the item failed
return ActionResultType.FAIL;
}
World world = context.getWorld();
BlockPos pos = context.getPos();
Map<Block, Block> lookup = AxeItem.BLOCK_STRIPPING_MAP;
BlockState clickedState = world.getBlockState(pos);
Block strippedBlock = lookup.get(clickedState.getBlock());
if (strippedBlock == null) {
//Skip stripping the blocks if the one we clicked cannot be stripped
return ActionResultType.PASS;
}
//Note: We don't need to fire a check for the tool being used here as we never would have had our current method get called
// if a generic interact was not allowed
if (world.isRemote) {
return ActionResultType.SUCCESS;
}
Axis axis = clickedState.get(RotatedPillarBlock.AXIS);
BlockState strippedState = strippedBlock.getDefaultState().with(RotatedPillarBlock.AXIS, axis);
//Process the block we interacted with initially and play the sound
world.setBlockState(pos, strippedState, BlockFlags.DEFAULT_AND_RERENDER);
world.playSound(player, pos, SoundEvents.ITEM_AXE_STRIP, SoundCategory.BLOCKS, 1.0F, 1.0F);
Direction side = context.getFace();
FloatingLong energyUsed = energyUsage.copy();
for (BlockPos newPos : getStrippingArea(pos, side, (diameter - 1) / 2)) {
if (pos.equals(newPos)) {
//Skip the source position as it is free and we manually handled it before the loop
continue;
}
if (energyUsed.add(energyUsage).greaterThan(energy)) {
break;
}
//Check to make that the result we would get from stripping the other block is the same as the one we got on the initial block we interacted with
// Also make sure that it is on the same axis as the block we initially clicked
BlockState state = world.getBlockState(newPos);
if (strippedBlock == lookup.get(state.getBlock()) && axis == state.get(RotatedPillarBlock.AXIS)) {
//Some of the below methods don't behave properly when the BlockPos is mutable, so now that we are onto ones where it may actually
// matter we make sure to get an immutable instance of newPos
newPos = newPos.toImmutable();
if (!onToolUse(player, hand, newPos, side)) {
//We were denied from using the item so continue to the next block
continue;
} //else we are allowed to use the item
//Add energy cost
energyUsed = energyUsed.plusEqual(energyUsage);
//Replace the block. Note it just directly sets it (in the same way that AxeItem does).
world.setBlockState(newPos, strippedState, BlockFlags.DEFAULT_AND_RERENDER);
world.playSound(player, pos, SoundEvents.ITEM_AXE_STRIP, SoundCategory.BLOCKS, 1.0F, 1.0F);
}
}
energyContainer.extract(energyUsed, Action.EXECUTE, AutomationType.MANUAL);
return ActionResultType.SUCCESS;
}
private static Iterable<BlockPos> getStrippingArea(BlockPos pos, Direction direction, int radius) {
AxisAlignedBB box;
switch (direction) {
case EAST:
case WEST:
box = new AxisAlignedBB(pos.getX(), pos.getY() - radius, pos.getZ() - radius, pos.getX(), pos.getY() + radius, pos.getZ() + radius);
break;
case UP:
case DOWN:
box = new AxisAlignedBB(pos.getX() - radius, pos.getY(), pos.getZ() - radius, pos.getX() + radius, pos.getY(), pos.getZ() + radius);
break;
case SOUTH:
case NORTH:
box = new AxisAlignedBB(pos.getX() - radius, pos.getY() - radius, pos.getZ(), pos.getX() + radius, pos.getY() + radius, pos.getZ());
break;
default:
return BlockPos.getAllInBoxMutable(BlockPos.ZERO, BlockPos.ZERO);
}
return BlockPos.getAllInBoxMutable(new BlockPos(box.minX, box.minY, box.minZ), new BlockPos(box.maxX, box.maxY, box.maxZ));
}
/**
* Tries to use a tool as a player
*
* @return True if the player is allowed to use the tool, false otherwise
*/
private static boolean onToolUse(PlayerEntity player, Hand hand, BlockPos pos, Direction face) {
RightClickBlock event = ForgeHooks.onRightClickBlock(player, hand, pos, face);
//Nothing happens if it is cancelled or we are not allowed to use the item so return false
return !event.isCanceled() && event.getUseItem() != Result.DENY;
}
>>>>>>>
<<<<<<<
NORMAL(MekanismLang.DISASSEMBLER_NORMAL, 20, () -> true),
SLOW(MekanismLang.DISASSEMBLER_SLOW, 8, MekanismConfig.general.disassemblerSlowMode),
FAST(MekanismLang.DISASSEMBLER_FAST, 128, MekanismConfig.general.disassemblerFastMode),
VEIN(MekanismLang.DISASSEMBLER_VEIN, 20, MekanismConfig.general.disassemblerVeinMining),
EXTENDED_VEIN(MekanismLang.DISASSEMBLER_EXTENDED_VEIN, 20, MekanismConfig.general.disassemblerExtendedMining),
OFF(MekanismLang.DISASSEMBLER_OFF, 0, () -> true);
=======
NORMAL(MekanismLang.DISASSEMBLER_NORMAL, 20, 3, () -> true),
SLOW(MekanismLang.DISASSEMBLER_SLOW, 8, 1, MekanismConfig.gear.disassemblerSlowMode),
FAST(MekanismLang.DISASSEMBLER_FAST, 128, 5, MekanismConfig.gear.disassemblerFastMode),
VEIN(MekanismLang.DISASSEMBLER_VEIN, 20, 3, MekanismConfig.gear.disassemblerVeinMining),
EXTENDED_VEIN(MekanismLang.DISASSEMBLER_EXTENDED_VEIN, 20, 3, MekanismConfig.gear.disassemblerExtendedMining),
OFF(MekanismLang.DISASSEMBLER_OFF, 0, 0, () -> true);
>>>>>>>
NORMAL(MekanismLang.DISASSEMBLER_NORMAL, 20, () -> true),
SLOW(MekanismLang.DISASSEMBLER_SLOW, 8, MekanismConfig.gear.disassemblerSlowMode),
FAST(MekanismLang.DISASSEMBLER_FAST, 128, MekanismConfig.gear.disassemblerFastMode),
VEIN(MekanismLang.DISASSEMBLER_VEIN, 20, MekanismConfig.gear.disassemblerVeinMining),
EXTENDED_VEIN(MekanismLang.DISASSEMBLER_EXTENDED_VEIN, 20, MekanismConfig.gear.disassemblerExtendedMining),
OFF(MekanismLang.DISASSEMBLER_OFF, 0, () -> true); |
<<<<<<<
import mekanism.api.MekanismConfig.client;
import mekanism.api.MekanismConfig.general;
=======
import mekanism.api.IMekWrench;
>>>>>>>
import mekanism.api.MekanismConfig.client;
import mekanism.api.MekanismConfig.general;
import mekanism.api.IMekWrench; |
<<<<<<<
writer = FileOperations.getInstance().newWriterBuilder().forFile(opts.outputFile + "." + RFile.EXTENSION, fs, conf)
.withTableConfiguration(DefaultConfiguration.getInstance()).build();
=======
writer = FileOperations.getInstance().newWriterBuilder()
.forFile(opts.outputFile + "." + RFile.EXTENSION, fs, conf)
.withTableConfiguration(AccumuloConfiguration.getDefaultConfiguration()).build();
>>>>>>>
writer = FileOperations.getInstance().newWriterBuilder()
.forFile(opts.outputFile + "." + RFile.EXTENSION, fs, conf)
.withTableConfiguration(DefaultConfiguration.getInstance()).build();
<<<<<<<
value = genRandomValue(random, randomValue, opts.random, rowid + opts.startRow, j);
=======
value = genRandomValue(random, randomValue, opts.random.intValue(),
rowid + opts.startRow, j);
>>>>>>>
value = genRandomValue(random, randomValue, opts.random, rowid + opts.startRow, j);
<<<<<<<
value = genRandomValue(random, randomValue, opts.random, rowid + opts.startRow, j);
=======
value = genRandomValue(random, randomValue, opts.random.intValue(),
rowid + opts.startRow, j);
>>>>>>>
value = genRandomValue(random, randomValue, opts.random, rowid + opts.startRow, j); |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
>>>>>>> |
<<<<<<<
boolean place = super.placeBlockAt(stack, player, world, pos, side, hitX, hitY, hitZ, metadata);
=======
boolean place = true;
BasicType type = BasicType.get(stack);
if(type == BasicType.SECURITY_DESK)
{
if(y+1 > 255 || !world.getBlock(x, y+1, z).isReplaceable(world, x, y+1, z))
{
place = false;
}
}
>>>>>>>
boolean place = true;
BasicBlockType type = BasicBlockType.get(stack);
if(type == BasicType.SECURITY_DESK)
{
if(y+1 > 255 || !world.getBlock(x, y+1, z).isReplaceable(world, x, y+1, z))
{
place = false;
}
}
<<<<<<<
BasicBlockType type = BasicBlockType.get(stack);
if(type == BasicBlockType.BIN && stack.getTagCompound() != null)
=======
if(type == BasicType.BIN && stack.stackTagCompound != null)
>>>>>>>
if(type == BasicBlockType.BIN && stack.getTagCompound() != null) |
<<<<<<<
import mekanism.api.util.CapabilityUtils;
import mekanism.common.base.FluidHandlerWrapper;
import mekanism.common.base.IFluidHandlerWrapper;
import mekanism.common.capabilities.Capabilities;
=======
import mekanism.common.Mekanism;
import mekanism.common.network.PacketTileEntity.TileEntityMessage;
>>>>>>>
import mekanism.api.util.CapabilityUtils;
import mekanism.common.Mekanism;
import mekanism.common.base.FluidHandlerWrapper;
import mekanism.common.base.IFluidHandlerWrapper;
import mekanism.common.capabilities.Capabilities;
import mekanism.common.network.PacketTileEntity.TileEntityMessage;
<<<<<<<
import mekanism.common.util.PipeUtils;
=======
import mekanism.common.util.LangUtils;
>>>>>>>
import mekanism.common.util.LangUtils;
import mekanism.common.util.PipeUtils;
<<<<<<<
import net.minecraft.util.EnumFacing;
import net.minecraftforge.common.capabilities.Capability;
=======
import net.minecraft.util.ChatComponentText;
import net.minecraftforge.common.util.ForgeDirection;
>>>>>>>
import net.minecraft.util.EnumActionResult;
import net.minecraft.util.EnumFacing;
import net.minecraft.util.text.TextComponentString;
import net.minecraftforge.common.capabilities.Capability;
<<<<<<<
public class TileEntityReactorPort extends TileEntityReactorBlock implements IFluidHandlerWrapper, IGasHandler, ITubeConnection, IHeatTransfer
=======
public class TileEntityReactorPort extends TileEntityReactorBlock implements IFluidHandler, IGasHandler, ITubeConnection, IHeatTransfer, IConfigurable
>>>>>>>
public class TileEntityReactorPort extends TileEntityReactorBlock implements IFluidHandlerWrapper, IGasHandler, ITubeConnection, IHeatTransfer, IConfigurable |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
>>>>>>> |
<<<<<<<
import mekanism.common.block.states.BlockStateMachine.MachineType;
import mekanism.common.recipe.inputs.*;
import mekanism.common.recipe.machines.*;
import mekanism.common.recipe.outputs.*;
=======
import mekanism.common.block.BlockMachine.MachineType;
import mekanism.common.recipe.inputs.AdvancedMachineInput;
import mekanism.common.recipe.inputs.ChemicalPairInput;
import mekanism.common.recipe.inputs.FluidInput;
import mekanism.common.recipe.inputs.GasInput;
import mekanism.common.recipe.inputs.InfusionInput;
import mekanism.common.recipe.inputs.IntegerInput;
import mekanism.common.recipe.inputs.ItemStackInput;
import mekanism.common.recipe.inputs.MachineInput;
import mekanism.common.recipe.inputs.PressurizedInput;
import mekanism.common.recipe.machines.AdvancedMachineRecipe;
import mekanism.common.recipe.machines.AmbientGasRecipe;
import mekanism.common.recipe.machines.BasicMachineRecipe;
import mekanism.common.recipe.machines.ChanceMachineRecipe;
import mekanism.common.recipe.machines.ChemicalInfuserRecipe;
import mekanism.common.recipe.machines.CombinerRecipe;
import mekanism.common.recipe.machines.CrusherRecipe;
import mekanism.common.recipe.machines.CrystallizerRecipe;
import mekanism.common.recipe.machines.DissolutionRecipe;
import mekanism.common.recipe.machines.EnrichmentRecipe;
import mekanism.common.recipe.machines.InjectionRecipe;
import mekanism.common.recipe.machines.MachineRecipe;
import mekanism.common.recipe.machines.MetallurgicInfuserRecipe;
import mekanism.common.recipe.machines.OsmiumCompressorRecipe;
import mekanism.common.recipe.machines.OxidationRecipe;
import mekanism.common.recipe.machines.PressurizedRecipe;
import mekanism.common.recipe.machines.PurificationRecipe;
import mekanism.common.recipe.machines.SawmillRecipe;
import mekanism.common.recipe.machines.SeparatorRecipe;
import mekanism.common.recipe.machines.SmeltingRecipe;
import mekanism.common.recipe.machines.SolarNeutronRecipe;
import mekanism.common.recipe.machines.ThermalEvaporationRecipe;
import mekanism.common.recipe.machines.WasherRecipe;
import mekanism.common.recipe.outputs.ChanceOutput;
import mekanism.common.recipe.outputs.ChemicalPairOutput;
import mekanism.common.recipe.outputs.FluidOutput;
import mekanism.common.recipe.outputs.GasOutput;
import mekanism.common.recipe.outputs.ItemStackOutput;
import mekanism.common.recipe.outputs.MachineOutput;
import mekanism.common.recipe.outputs.PressurizedOutput;
>>>>>>>
import mekanism.common.block.states.BlockStateMachine.MachineType;
import mekanism.common.recipe.inputs.AdvancedMachineInput;
import mekanism.common.recipe.inputs.ChemicalPairInput;
import mekanism.common.recipe.inputs.FluidInput;
import mekanism.common.recipe.inputs.GasInput;
import mekanism.common.recipe.inputs.InfusionInput;
import mekanism.common.recipe.inputs.IntegerInput;
import mekanism.common.recipe.inputs.ItemStackInput;
import mekanism.common.recipe.inputs.MachineInput;
import mekanism.common.recipe.inputs.PressurizedInput;
import mekanism.common.recipe.machines.AdvancedMachineRecipe;
import mekanism.common.recipe.machines.AmbientGasRecipe;
import mekanism.common.recipe.machines.BasicMachineRecipe;
import mekanism.common.recipe.machines.ChanceMachineRecipe;
import mekanism.common.recipe.machines.ChemicalInfuserRecipe;
import mekanism.common.recipe.machines.CombinerRecipe;
import mekanism.common.recipe.machines.CrusherRecipe;
import mekanism.common.recipe.machines.CrystallizerRecipe;
import mekanism.common.recipe.machines.DissolutionRecipe;
import mekanism.common.recipe.machines.EnrichmentRecipe;
import mekanism.common.recipe.machines.InjectionRecipe;
import mekanism.common.recipe.machines.MachineRecipe;
import mekanism.common.recipe.machines.MetallurgicInfuserRecipe;
import mekanism.common.recipe.machines.OsmiumCompressorRecipe;
import mekanism.common.recipe.machines.OxidationRecipe;
import mekanism.common.recipe.machines.PressurizedRecipe;
import mekanism.common.recipe.machines.PurificationRecipe;
import mekanism.common.recipe.machines.SawmillRecipe;
import mekanism.common.recipe.machines.SeparatorRecipe;
import mekanism.common.recipe.machines.SmeltingRecipe;
import mekanism.common.recipe.machines.SolarNeutronRecipe;
import mekanism.common.recipe.machines.ThermalEvaporationRecipe;
import mekanism.common.recipe.machines.WasherRecipe;
import mekanism.common.recipe.outputs.ChanceOutput;
import mekanism.common.recipe.outputs.ChemicalPairOutput;
import mekanism.common.recipe.outputs.FluidOutput;
import mekanism.common.recipe.outputs.GasOutput;
import mekanism.common.recipe.outputs.ItemStackOutput;
import mekanism.common.recipe.outputs.MachineOutput;
import mekanism.common.recipe.outputs.PressurizedOutput;
<<<<<<<
ENERGIZED_SMELTER(MachineType.ENERGIZED_SMELTER.machineName, ItemStackInput.class, ItemStackOutput.class, SmeltingRecipe.class),
ENRICHMENT_CHAMBER(MachineType.ENRICHMENT_CHAMBER.machineName, ItemStackInput.class, ItemStackOutput.class, EnrichmentRecipe.class),
OSMIUM_COMPRESSOR(MachineType.OSMIUM_COMPRESSOR.machineName, AdvancedMachineInput.class, ItemStackOutput.class, OsmiumCompressorRecipe.class),
COMBINER(MachineType.COMBINER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, CombinerRecipe.class),
CRUSHER(MachineType.CRUSHER.machineName, ItemStackInput.class, ItemStackOutput.class, CrusherRecipe.class),
PURIFICATION_CHAMBER(MachineType.PURIFICATION_CHAMBER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, PurificationRecipe.class),
METALLURGIC_INFUSER(MachineType.METALLURGIC_INFUSER.machineName, InfusionInput.class, ItemStackOutput.class, MetallurgicInfuserRecipe.class),
CHEMICAL_INFUSER(MachineType.CHEMICAL_INFUSER.machineName, ChemicalPairInput.class, GasOutput.class, ChemicalInfuserRecipe.class),
CHEMICAL_OXIDIZER(MachineType.CHEMICAL_OXIDIZER.machineName, ItemStackInput.class, GasOutput.class, OxidationRecipe.class),
CHEMICAL_INJECTION_CHAMBER(MachineType.CHEMICAL_INJECTION_CHAMBER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, InjectionRecipe.class),
ELECTROLYTIC_SEPARATOR(MachineType.ELECTROLYTIC_SEPARATOR.machineName, FluidInput.class, ChemicalPairOutput.class, SeparatorRecipe.class),
PRECISION_SAWMILL(MachineType.PRECISION_SAWMILL.machineName, ItemStackInput.class, ChanceOutput.class, SawmillRecipe.class),
CHEMICAL_DISSOLUTION_CHAMBER(MachineType.CHEMICAL_DISSOLUTION_CHAMBER.machineName, ItemStackInput.class, GasOutput.class, DissolutionRecipe.class),
CHEMICAL_WASHER(MachineType.CHEMICAL_WASHER.machineName, GasInput.class, GasOutput.class, WasherRecipe.class),
CHEMICAL_CRYSTALLIZER(MachineType.CHEMICAL_CRYSTALLIZER.machineName, GasInput.class, ItemStackOutput.class, CrystallizerRecipe.class),
PRESSURIZED_REACTION_CHAMBER(MachineType.PRESSURIZED_REACTION_CHAMBER.machineName, PressurizedInput.class, PressurizedOutput.class, PressurizedRecipe.class),
AMBIENT_ACCUMULATOR(MachineType.AMBIENT_ACCUMULATOR.machineName, IntegerInput.class, GasOutput.class, AmbientGasRecipe.class),
SOLAR_EVAPORATION_PLANT("SolarEvaporationPlant", FluidInput.class, FluidOutput.class, SolarEvaporationRecipe.class),
SOLAR_NEUTRON_ACTIVATOR(MachineType.SOLAR_NEUTRON_ACTIVATOR.machineName, GasInput.class, GasOutput.class, SolarNeutronRecipe.class);
=======
ENERGIZED_SMELTER(MachineType.ENERGIZED_SMELTER.name, ItemStackInput.class, ItemStackOutput.class, SmeltingRecipe.class),
ENRICHMENT_CHAMBER(MachineType.ENRICHMENT_CHAMBER.name, ItemStackInput.class, ItemStackOutput.class, EnrichmentRecipe.class),
OSMIUM_COMPRESSOR(MachineType.OSMIUM_COMPRESSOR.name, AdvancedMachineInput.class, ItemStackOutput.class, OsmiumCompressorRecipe.class),
COMBINER(MachineType.COMBINER.name, AdvancedMachineInput.class, ItemStackOutput.class, CombinerRecipe.class),
CRUSHER(MachineType.CRUSHER.name, ItemStackInput.class, ItemStackOutput.class, CrusherRecipe.class),
PURIFICATION_CHAMBER(MachineType.PURIFICATION_CHAMBER.name, AdvancedMachineInput.class, ItemStackOutput.class, PurificationRecipe.class),
METALLURGIC_INFUSER(MachineType.METALLURGIC_INFUSER.name, InfusionInput.class, ItemStackOutput.class, MetallurgicInfuserRecipe.class),
CHEMICAL_INFUSER(MachineType.CHEMICAL_INFUSER.name, ChemicalPairInput.class, GasOutput.class, ChemicalInfuserRecipe.class),
CHEMICAL_OXIDIZER(MachineType.CHEMICAL_OXIDIZER.name, ItemStackInput.class, GasOutput.class, OxidationRecipe.class),
CHEMICAL_INJECTION_CHAMBER(MachineType.CHEMICAL_INJECTION_CHAMBER.name, AdvancedMachineInput.class, ItemStackOutput.class, InjectionRecipe.class),
ELECTROLYTIC_SEPARATOR(MachineType.ELECTROLYTIC_SEPARATOR.name, FluidInput.class, ChemicalPairOutput.class, SeparatorRecipe.class),
PRECISION_SAWMILL(MachineType.PRECISION_SAWMILL.name, ItemStackInput.class, ChanceOutput.class, SawmillRecipe.class),
CHEMICAL_DISSOLUTION_CHAMBER(MachineType.CHEMICAL_DISSOLUTION_CHAMBER.name, ItemStackInput.class, GasOutput.class, DissolutionRecipe.class),
CHEMICAL_WASHER(MachineType.CHEMICAL_WASHER.name, GasInput.class, GasOutput.class, WasherRecipe.class),
CHEMICAL_CRYSTALLIZER(MachineType.CHEMICAL_CRYSTALLIZER.name, GasInput.class, ItemStackOutput.class, CrystallizerRecipe.class),
PRESSURIZED_REACTION_CHAMBER(MachineType.PRESSURIZED_REACTION_CHAMBER.name, PressurizedInput.class, PressurizedOutput.class, PressurizedRecipe.class),
AMBIENT_ACCUMULATOR(MachineType.AMBIENT_ACCUMULATOR.name, IntegerInput.class, GasOutput.class, AmbientGasRecipe.class),
THERMAL_EVAPORATION_PLANT("ThermalEvaporationPlant", FluidInput.class, FluidOutput.class, ThermalEvaporationRecipe.class),
SOLAR_NEUTRON_ACTIVATOR(MachineType.SOLAR_NEUTRON_ACTIVATOR.name, GasInput.class, GasOutput.class, SolarNeutronRecipe.class);
>>>>>>>
ENERGIZED_SMELTER(MachineType.ENERGIZED_SMELTER.machineName, ItemStackInput.class, ItemStackOutput.class, SmeltingRecipe.class),
ENRICHMENT_CHAMBER(MachineType.ENRICHMENT_CHAMBER.machineName, ItemStackInput.class, ItemStackOutput.class, EnrichmentRecipe.class),
OSMIUM_COMPRESSOR(MachineType.OSMIUM_COMPRESSOR.machineName, AdvancedMachineInput.class, ItemStackOutput.class, OsmiumCompressorRecipe.class),
COMBINER(MachineType.COMBINER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, CombinerRecipe.class),
CRUSHER(MachineType.CRUSHER.machineName, ItemStackInput.class, ItemStackOutput.class, CrusherRecipe.class),
PURIFICATION_CHAMBER(MachineType.PURIFICATION_CHAMBER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, PurificationRecipe.class),
METALLURGIC_INFUSER(MachineType.METALLURGIC_INFUSER.machineName, InfusionInput.class, ItemStackOutput.class, MetallurgicInfuserRecipe.class),
CHEMICAL_INFUSER(MachineType.CHEMICAL_INFUSER.machineName, ChemicalPairInput.class, GasOutput.class, ChemicalInfuserRecipe.class),
CHEMICAL_OXIDIZER(MachineType.CHEMICAL_OXIDIZER.machineName, ItemStackInput.class, GasOutput.class, OxidationRecipe.class),
CHEMICAL_INJECTION_CHAMBER(MachineType.CHEMICAL_INJECTION_CHAMBER.machineName, AdvancedMachineInput.class, ItemStackOutput.class, InjectionRecipe.class),
ELECTROLYTIC_SEPARATOR(MachineType.ELECTROLYTIC_SEPARATOR.machineName, FluidInput.class, ChemicalPairOutput.class, SeparatorRecipe.class),
PRECISION_SAWMILL(MachineType.PRECISION_SAWMILL.machineName, ItemStackInput.class, ChanceOutput.class, SawmillRecipe.class),
CHEMICAL_DISSOLUTION_CHAMBER(MachineType.CHEMICAL_DISSOLUTION_CHAMBER.machineName, ItemStackInput.class, GasOutput.class, DissolutionRecipe.class),
CHEMICAL_WASHER(MachineType.CHEMICAL_WASHER.machineName, GasInput.class, GasOutput.class, WasherRecipe.class),
CHEMICAL_CRYSTALLIZER(MachineType.CHEMICAL_CRYSTALLIZER.machineName, GasInput.class, ItemStackOutput.class, CrystallizerRecipe.class),
PRESSURIZED_REACTION_CHAMBER(MachineType.PRESSURIZED_REACTION_CHAMBER.machineName, PressurizedInput.class, PressurizedOutput.class, PressurizedRecipe.class),
AMBIENT_ACCUMULATOR(MachineType.AMBIENT_ACCUMULATOR.machineName, IntegerInput.class, GasOutput.class, AmbientGasRecipe.class),
THERMAL_EVAPORATION_PLANT("ThermalEvaporationPlant", FluidInput.class, FluidOutput.class, ThermalEvaporationRecipe.class),
SOLAR_NEUTRON_ACTIVATOR(MachineType.SOLAR_NEUTRON_ACTIVATOR.machineName, GasInput.class, GasOutput.class, SolarNeutronRecipe.class); |
<<<<<<<
import net.minecraftforge.fml.relauncher.Side;
import net.minecraftforge.fml.relauncher.SideOnly;
=======
>>>>>>> |
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