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Removed TimeInterval Stuff
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@TomaszTB
TomaszTB committed Nov 12, 2024
1 parent 51d0a91 commit 6043f1d
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Showing 40 changed files with 55 additions and 632 deletions.
2 changes: 1 addition & 1 deletion ...hmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandler.java
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import us.ihmc.robotics.math.trajectories.generators.MultipleWaypointsPoseTrajectoryGenerator;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalProvider;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicDefinition;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicGroupDefinition;
import us.ihmc.yoVariables.euclid.referenceFrame.YoFrameVector2D;
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2 changes: 1 addition & 1 deletion .../commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceTools.java
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import us.ihmc.humanoidRobotics.footstep.FootstepTiming;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeIntervalTools;
import us.ihmc.commons.time.TimeIntervalTools;

import java.util.Comparator;
import java.util.List;
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2 changes: 1 addition & 1 deletion ...ommonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdater.java
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import us.ihmc.mecano.frames.MovingReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeIntervalTools;
import us.ihmc.commons.time.TimeIntervalTools;
import us.ihmc.yoVariables.euclid.referenceFrame.YoFramePoint2D;
import us.ihmc.yoVariables.registry.YoRegistry;

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2 changes: 1 addition & 1 deletion ...s/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedStepTransition.java
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import us.ihmc.euclid.referenceFrame.interfaces.FramePose3DReadOnly;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.commons.time.TimeInterval;

import java.util.ArrayList;
import java.util.List;
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8 changes: 4 additions & 4 deletions ...ava/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedTimedStep.java
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import us.ihmc.euclid.referenceFrame.FramePose3D;
import us.ihmc.euclid.tuple2D.Point2D;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalReadOnly;

import java.util.List;

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4 changes: 2 additions & 2 deletions ...mc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/SimpleBipedContactPhase.java
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import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;

import java.util.ArrayList;
import java.util.List;
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4 changes: 2 additions & 2 deletions ...ingControlModules/dynamicPlanning/bipedPlanning/ThreePotatoAngularMomentumCalculator.java
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import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.ExecutionTimer;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalReadOnly;
import us.ihmc.scs2.definition.visual.ColorDefinitions;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicDefinition;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicDefinitionFactory;
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6 changes: 3 additions & 3 deletions ...us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectorySegment.java
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import us.ihmc.euclid.tuple3D.Point3D;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.robotics.math.trajectories.interfaces.FixedFramePositionTrajectoryGenerator;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;

import static us.ihmc.commonWalkingControlModules.dynamicPlanning.comPlanning.CoMTrajectoryPlannerTools.sufficientlyLarge;

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2 changes: 1 addition & 1 deletion ...us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProvider.java
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import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalProvider;

import java.util.List;

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2 changes: 1 addition & 1 deletion ...mc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProviderTools.java
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package us.ihmc.commonWalkingControlModules.dynamicPlanning.comPlanning;

import us.ihmc.robotics.time.TimeIntervalTools;
import us.ihmc.commons.time.TimeIntervalTools;

import java.util.List;

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2 changes: 1 addition & 1 deletion ...c/commonWalkingControlModules/dynamicPlanning/comPlanning/LinearCoMTrajectoryHandler.java
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import us.ihmc.robotics.math.trajectories.generators.MultipleSegmentPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.interfaces.Polynomial3DBasics;
import us.ihmc.robotics.math.trajectories.interfaces.Polynomial3DReadOnly;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeIntervalReadOnly;
import us.ihmc.yoVariables.registry.YoRegistry;

import java.util.ArrayList;
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2 changes: 1 addition & 1 deletion ...kingControlModules/dynamicPlanning/comPlanning/MultipleCoMSegmentTrajectoryGenerator.java
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import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.robotics.math.trajectories.generators.MultipleSegmentPositionTrajectoryGenerator;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeIntervalReadOnly;
import us.ihmc.yoVariables.registry.YoRegistry;

import static us.ihmc.robotics.math.trajectories.generators.MultipleWaypointsTrajectoryGenerator.defaultMaximumNumberOfWaypoints;
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6 changes: 3 additions & 3 deletions ...commonWalkingControlModules/dynamicPlanning/comPlanning/SettableContactStateProvider.java
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import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalReadOnly;

import java.util.ArrayList;
import java.util.List;
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4 changes: 2 additions & 2 deletions ...us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/TimedContactInterval.java
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import us.ihmc.euclid.geometry.ConvexPolygon2D;
import us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DReadOnly;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalProvider;

public class TimedContactInterval implements TimeIntervalProvider
{
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2 changes: 1 addition & 1 deletion ...commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandlerTest.java
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import us.ihmc.robotics.math.trajectories.generators.MultipleSegmentPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.interfaces.FramePolynomial3DBasics;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.yoVariables.parameters.DefaultParameterReader;
import us.ihmc.yoVariables.registry.YoRegistry;

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2 changes: 1 addition & 1 deletion ...nWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdaterTest.java
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import us.ihmc.mecano.frames.MovingReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.commons.time.TimeInterval;

import java.util.ArrayList;
import java.util.List;
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4 changes: 2 additions & 2 deletions ...mmonWalkingControlModules/dynamicPlanning/bipedPlanning/ECMPTrajectoryCalculatorTest.java
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import us.ihmc.robotics.math.trajectories.generators.MultipleSegmentPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.interfaces.*;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.yoVariables.parameters.DefaultParameterReader;
import us.ihmc.yoVariables.registry.YoRegistry;

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2 changes: 1 addition & 1 deletion ...nWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectoryPlannerInterfaceTest.java
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import us.ihmc.euclid.tools.EuclidCoreTestTools;
import us.ihmc.euclid.tuple3D.Point3D;
import us.ihmc.euclid.tuple3D.Vector3D;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.yoVariables.registry.YoRegistry;
import us.ihmc.yoVariables.variable.YoDouble;

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2 changes: 1 addition & 1 deletion ...hmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ComTrajectoryPlannerTest.java
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import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
import us.ihmc.euclid.tools.EuclidCoreTestTools;
import us.ihmc.euclid.tuple2D.Point2D;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.commons.time.TimeInterval;

import java.util.Random;

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6 changes: 3 additions & 3 deletions ihmc-graphics/src/libgdx/java/us/ihmc/rdx/visualizers/RDXPolynomial.java
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import us.ihmc.graphicsDescription.appearance.YoAppearance;
import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolynomial3D;
import us.ihmc.robotics.math.trajectories.interfaces.PolynomialReadOnly;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalReadOnly;
import us.ihmc.yoVariables.providers.DoubleProvider;
import us.ihmc.yoVariables.providers.IntegerProvider;
import us.ihmc.yoVariables.registry.YoRegistry;
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2 changes: 1 addition & 1 deletion ...ava/us/ihmc/humanoidRobotics/communication/controllerAPI/command/TimeIntervalCommand.java
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import us.ihmc.commons.MathTools;
import us.ihmc.communication.controllerAPI.command.Command;
import us.ihmc.euclid.tools.EuclidCoreTools;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalBasics;

public class TimeIntervalCommand implements Command<TimeIntervalCommand, TimeIntervalMessage>
{
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4 changes: 2 additions & 2 deletions ...kit/src/main/java/us/ihmc/robotics/math/trajectories/FixedFramePolynomialEstimator3D.java
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import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.robotics.math.trajectories.core.Polynomial3DFrameFactories;
import us.ihmc.robotics.math.trajectories.interfaces.FixedFramePositionTrajectoryGenerator;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;

public class FixedFramePolynomialEstimator3D implements FixedFramePositionTrajectoryGenerator, TimeIntervalProvider, Settable<FixedFramePolynomialEstimator3D>
{
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6 changes: 3 additions & 3 deletions ...obotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator.java
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import org.ejml.interfaces.linsol.LinearSolverDense;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.matrixlib.MatrixTools;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;

public class PolynomialEstimator implements TimeIntervalProvider, Settable<PolynomialEstimator>
{
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4 changes: 2 additions & 2 deletions ...otics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator3D.java
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import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
import us.ihmc.robotics.math.trajectories.core.Trajectory3DFactories;
import us.ihmc.robotics.math.trajectories.interfaces.PositionTrajectoryGenerator;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;

public class PolynomialEstimator3D implements PositionTrajectoryGenerator, TimeIntervalProvider, Settable<PolynomialEstimator3D>
{
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2 changes: 1 addition & 1 deletion ...src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractFramePolynomial3D.java
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import us.ihmc.robotics.math.trajectories.interfaces.Polynomial3DBasics;
import us.ihmc.robotics.math.trajectories.core.Polynomial3DFrameFactories;
import us.ihmc.robotics.math.trajectories.interfaces.PolynomialBasics;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalBasics;

public class AbstractFramePolynomial3D implements FramePolynomial3DBasics
{
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2 changes: 1 addition & 1 deletion ...lkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractPolynomial3D.java
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import us.ihmc.robotics.math.trajectories.interfaces.PolynomialBasics;
import us.ihmc.robotics.math.trajectories.interfaces.PositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.yoVariables.YoPolynomial;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalBasics;

import java.util.List;

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4 changes: 2 additions & 2 deletions ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Polynomial.java
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import org.ejml.dense.row.factory.LinearSolverFactory_DDRM;
import org.ejml.interfaces.linsol.LinearSolverDense;
import us.ihmc.robotics.math.trajectories.interfaces.PolynomialBasics;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;

/**
* Used to compute the value and 1st and 2nd order derivatives of a polynomial.
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4 changes: 2 additions & 2 deletions ...-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Trajectory3DFactories.java
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import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;
import us.ihmc.yoVariables.providers.DoubleProvider;

import java.util.function.DoubleConsumer;
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6 changes: 3 additions & 3 deletions ...hmc/robotics/math/trajectories/generators/MultipleSegmentPositionTrajectoryGenerator.java
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import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.interfaces.*;
import us.ihmc.robotics.math.trajectories.interfaces.FixedFramePositionTrajectoryGenerator;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.robotics.time.TimeIntervalReadOnly;
import us.ihmc.robotics.time.TimeIntervalTools;
import us.ihmc.commons.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalReadOnly;
import us.ihmc.commons.time.TimeIntervalTools;
import us.ihmc.yoVariables.euclid.referenceFrame.YoFramePoint3D;
import us.ihmc.yoVariables.euclid.referenceFrame.YoFrameVector3D;
import us.ihmc.yoVariables.registry.YoRegistry;
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4 changes: 2 additions & 2 deletions ...kit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/Polynomial3DReadOnly.java
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import org.ejml.data.DMatrixRMaj;
import us.ihmc.euclid.Axis3D;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeIntervalProvider;

public interface Polynomial3DReadOnly extends PositionTrajectoryGenerator, TimeIntervalProvider
{
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2 changes: 1 addition & 1 deletion ...olkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/PolynomialReadOnly.java
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package us.ihmc.robotics.math.trajectories.interfaces;

import us.ihmc.robotics.time.TimeIntervalProvider;
import us.ihmc.commons.time.TimeIntervalProvider;

public interface PolynomialReadOnly extends TimeIntervalProvider, DoubleTrajectoryGenerator
{
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4 changes: 2 additions & 2 deletions ...cs-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/yoVariables/YoPolynomial.java
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import us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolynomial3D.PolynomialVariableHolder;
import us.ihmc.robotics.math.trajectories.core.PolynomialTools;
import us.ihmc.robotics.math.trajectories.interfaces.PolynomialBasics;
import us.ihmc.robotics.time.TimeInterval;
import us.ihmc.robotics.time.TimeIntervalBasics;
import us.ihmc.commons.time.TimeInterval;
import us.ihmc.commons.time.TimeIntervalBasics;
import us.ihmc.yoVariables.registry.YoRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
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59 changes: 0 additions & 59 deletions ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeInterval.java
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