def getSupportLCMFromListOfSupports(self, supportsList,ts): supports = [0]*len(ts) for i in xrange(len(ts)): supportElement = lcmdrc.support_element_t() supportElement.utime = getUtime() numBodies = len(supportsList[i]) supportElement.num_bodies = numBodies supportBodies = [] for j in xrange(numBodies): name = supportsList[i][j] if name is 'l_foot': supportBodies.append(self.getFootSupportBodyMsg('left')) elif name is 'r_foot': supportBodies.append(self.getFootSupportBodyMsg('right')) elif name is 'l_hand': supportBodies.append(self.getHandSupportBodyMsg('left')) elif name is 'r_hand': supportBodies.append(self.getHandSupportBodyMsg('right')) elif name is 'pelvis': supportBodies.append(self.getPelvisSupportBodyMsg()) else: print "passed a support that isn't allowed" supportElement.support_bodies = supportBodies supports[i] = supportElement return supports
def getSupports(self): if self.publishPlansWithSupports: supportElement = lcmdrc.support_element_t() supportElement.utime = getUtime() numBodies = 0 supportBodies = [] if self.pelvisSupportEnabled: numBodies += 1 supportBodies.append(self.getPelvisSupportBodyMsg()) if self.leftFootSupportEnabled: numBodies += 1 supportBodies.append(self.getFootSupportBodyMsg('left')) if self.rightFootSupportEnabled: numBodies += 1 supportBodies.append(self.getFootSupportBodyMsg('right')) if self.leftHandSupportEnabled: #numBodies += 2 numBodies += 1 supportBodies.append( self.getHandSupportBodyMsg('left', [0, 0, 1, 0])) #supportBodies.append(self.getHandSupportBodyMsg('left', [0, 0, -1, 0])) if self.rightHandSupportEnabled: #numBodies += 2 numBodies += 1 supportBodies.append( self.getHandSupportBodyMsg('right', [0, 0, 1, 0])) #supportBodies.append(self.getHandSupportBodyMsg('right', [0, 0, -1, 0])) supportElement.num_bodies = numBodies supportElement.support_bodies = supportBodies return [supportElement]
def getSupports(self): if self.publishPlansWithSupports: supportElement = lcmdrc.support_element_t() supportElement.utime = getUtime() numBodies = 0 supportBodies = [] if self.pelvisSupportEnabled: numBodies += 1 supportBodies.append(self.getPelvisSupportBodyMsg()) if self.leftFootSupportEnabled: numBodies += 1 supportBodies.append(self.getFootSupportBodyMsg('left')) if self.rightFootSupportEnabled: numBodies += 1 supportBodies.append(self.getFootSupportBodyMsg('right')) if self.leftHandSupportEnabled: #numBodies += 2 numBodies += 1 supportBodies.append(self.getHandSupportBodyMsg('left', [0, 0, 1, 0])) #supportBodies.append(self.getHandSupportBodyMsg('left', [0, 0, -1, 0])) if self.rightHandSupportEnabled: #numBodies += 2 numBodies += 1 supportBodies.append(self.getHandSupportBodyMsg('right', [0, 0, 1, 0])) #supportBodies.append(self.getHandSupportBodyMsg('right', [0, 0, -1, 0])) supportElement.num_bodies = numBodies supportElement.support_bodies = supportBodies return [supportElement]
def getSupportLCMFromListOfSupports(self, supportsList, ts): supports = [0] * len(ts) for i in xrange(len(ts)): supportElement = lcmdrc.support_element_t() supportElement.utime = getUtime() numBodies = len(supportsList[i]) supportElement.num_bodies = numBodies supportBodies = [] for j in xrange(numBodies): name = supportsList[i][j] if name is 'l_foot': supportBodies.append(self.getFootSupportBodyMsg('left')) elif name is 'r_foot': supportBodies.append(self.getFootSupportBodyMsg('right')) elif name is 'l_hand': supportBodies.append(self.getHandSupportBodyMsg('left')) elif name is 'r_hand': supportBodies.append(self.getHandSupportBodyMsg('right')) elif name is 'pelvis': supportBodies.append(self.getPelvisSupportBodyMsg()) else: print "passed a support that isn't allowed" supportElement.support_bodies = supportBodies supports[i] = supportElement return supports