Moved the StepGeneratorCommandInputManager and the StatusMessageOutputManager to AvatarStepGeneratorThread so we don't have getters everywhere. - #1323
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…ng a new message type
…tManager to AvatarStepGeneratorThread so we don't have getters everywhere.
| return group; | ||
| } | ||
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| public StepGeneratorCommandInputManager getStepGeneratorCommandInputManager() |
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These getters were setting the object in the AvatarStepGeneratorThread, and then the object in AvatarStepGeneratorThread had getters as well. So by moving the objects themselves to the AvatarStepGeneratorThread we don't need to do this
| WalkingControllerParameters walkingControllerParameters, | ||
| StatusMessageOutputManager controllerStatusMessageOutputManager, | ||
| CommandInputManager controllerCommandInputManager, | ||
| StepGeneratorCommandInputManager commandInputManager, |
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We do have to pass these objects in
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| private final CommandInputManager controllerCommandInputManager; | ||
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| private final StepGeneratorCommandInputManager commandInputManager = new StepGeneratorCommandInputManager(); |
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Better to pass these down then create them here and pass them up
| statusMessageOutputManager, | ||
| null, | ||
| csgTime); | ||
| csgCommandInputManager = steppingManager.getStepGeneratorCommandInputManager(); |
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Ya this felt pretty confusing to me
| firstTick.set(false); | ||
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| csgCommandInputManager.update(csgTime.getValue()); |
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Need to update here now because this is where the object lives, now everything about the csgCommandInputManager lives in this class.
| RealtimeROS2Node ros2Node) | ||
| { | ||
| this.fullRobotModel = drcRobotModel.createFullRobotModel(); | ||
| csgRegistry.addChild(csgCommandInputManager.getRegistry()); |
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Changes the registry structure but its minor
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