/** * Set foot posiion and orientation based off of where the metajoint, X Y and Z, were set. */ void LowerBodyLeg::setInverse(){ checkGoalsReached(); if(!updated){ unsetAll(); return; } if (!allSet()) //wait for all joints return; double foot_x = 0; double foot_y = 0; double foot_z = 0; double foot_yaw = 0; parameters[FOOT_X]->get(INTERPOLATION_STEP, foot_x); parameters[FOOT_Y]->get(INTERPOLATION_STEP, foot_y); parameters[FOOT_Z]->get(INTERPOLATION_STEP, foot_z); parameters[FOOT_YAW]->get(INTERPOLATION_STEP, foot_yaw); if(globalFlag){ // Convert position to hip roll reference frame and set joint angles setHipRollXYZ(cos(foot_yaw)*foot_x + sin(foot_yaw)*foot_y, cos(foot_yaw)*foot_y - sin(foot_yaw)*foot_x, foot_z, foot_yaw); } else{ setHipRollXYZ(foot_x, foot_y, foot_z, foot_yaw); } unsetAll(); }
MMSButtonWidgetClass::MMSButtonWidgetClass() { unsetAll(); }
MMSThemeClass::MMSThemeClass() { unsetAll(); }