diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandler.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandler.java index 04b631b414d..6cd872b9395 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandler.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandler.java @@ -17,7 +17,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceTools.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceTools.java index 50f2d3ec877..3f06f7e557e 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceTools.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceTools.java @@ -8,7 +8,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdater.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdater.java index fbe1eb107cd..889858a9cdb 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdater.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdater.java @@ -14,7 +14,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedStepTransition.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedStepTransition.java index 1d018cc8557..de6e780c40a 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedStepTransition.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedStepTransition.java @@ -5,7 +5,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedTimedStep.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedTimedStep.java index 4fad7f6c78e..c1f4322e6b9 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedTimedStep.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedTimedStep.java @@ -3,10 +3,10 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/SimpleBipedContactPhase.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/SimpleBipedContactPhase.java index 88d0e6b8cc7..2f8abf737fd 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/SimpleBipedContactPhase.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/SimpleBipedContactPhase.java @@ -11,8 +11,8 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ThreePotatoAngularMomentumCalculator.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ThreePotatoAngularMomentumCalculator.java index b20ee15519e..8202276974c 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ThreePotatoAngularMomentumCalculator.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ThreePotatoAngularMomentumCalculator.java @@ -28,8 +28,8 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectorySegment.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectorySegment.java index 244df5cad26..0fff51dc6b9 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectorySegment.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectorySegment.java @@ -11,9 +11,9 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProvider.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProvider.java index daf3a4ada06..7d6656938a1 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProvider.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProvider.java @@ -7,7 +7,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProviderTools.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProviderTools.java index 7836458d403..8ce8d049a22 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProviderTools.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ContactStateProviderTools.java @@ -1,6 +1,6 @@ package us.ihmc.commonWalkingControlModules.dynamicPlanning.comPlanning; -import us.ihmc.robotics.time.TimeIntervalTools; +import us.ihmc.commons.time.TimeIntervalTools; import java.util.List; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/LinearCoMTrajectoryHandler.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/LinearCoMTrajectoryHandler.java index f809bf535f9..62d71b49ab3 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/LinearCoMTrajectoryHandler.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/LinearCoMTrajectoryHandler.java @@ -15,7 +15,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/MultipleCoMSegmentTrajectoryGenerator.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/MultipleCoMSegmentTrajectoryGenerator.java index 911a96ae928..5471e2b293d 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/MultipleCoMSegmentTrajectoryGenerator.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/MultipleCoMSegmentTrajectoryGenerator.java @@ -4,7 +4,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/SettableContactStateProvider.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/SettableContactStateProvider.java index 86a4ad22362..ed3d0cffbba 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/SettableContactStateProvider.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/SettableContactStateProvider.java @@ -6,9 +6,9 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/TimedContactInterval.java b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/TimedContactInterval.java index 626033dc013..2f7039e5089 100644 --- a/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/TimedContactInterval.java +++ b/ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/TimedContactInterval.java @@ -2,8 +2,8 @@ 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 { diff --git a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandlerTest.java b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandlerTest.java index 365fe8beb27..543f8282a80 100644 --- a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandlerTest.java +++ b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/AngularMomentumHandlerTest.java @@ -25,7 +25,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdaterTest.java b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdaterTest.java index 4b2053c838f..6c8b4aaaaf5 100644 --- a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdaterTest.java +++ b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/BipedContactSequenceUpdaterTest.java @@ -12,7 +12,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ECMPTrajectoryCalculatorTest.java b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ECMPTrajectoryCalculatorTest.java index 15328de186e..638090823e3 100644 --- a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ECMPTrajectoryCalculatorTest.java +++ b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/bipedPlanning/ECMPTrajectoryCalculatorTest.java @@ -18,8 +18,8 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectoryPlannerInterfaceTest.java b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectoryPlannerInterfaceTest.java index f5c4420a5d3..4542c0c0455 100644 --- a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectoryPlannerInterfaceTest.java +++ b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/CoMTrajectoryPlannerInterfaceTest.java @@ -16,7 +16,7 @@ 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; diff --git a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ComTrajectoryPlannerTest.java b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ComTrajectoryPlannerTest.java index 1c4e3a8ba2b..0950d7a4d37 100644 --- a/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ComTrajectoryPlannerTest.java +++ b/ihmc-common-walking-control-modules/src/test/java/us/ihmc/commonWalkingControlModules/dynamicPlanning/comPlanning/ComTrajectoryPlannerTest.java @@ -9,7 +9,7 @@ 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; diff --git a/ihmc-graphics/src/libgdx/java/us/ihmc/rdx/visualizers/RDXPolynomial.java b/ihmc-graphics/src/libgdx/java/us/ihmc/rdx/visualizers/RDXPolynomial.java index 980a35ff277..335b00956ab 100644 --- a/ihmc-graphics/src/libgdx/java/us/ihmc/rdx/visualizers/RDXPolynomial.java +++ b/ihmc-graphics/src/libgdx/java/us/ihmc/rdx/visualizers/RDXPolynomial.java @@ -13,9 +13,9 @@ 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; diff --git a/ihmc-humanoid-robotics/src/main/java/us/ihmc/humanoidRobotics/communication/controllerAPI/command/TimeIntervalCommand.java b/ihmc-humanoid-robotics/src/main/java/us/ihmc/humanoidRobotics/communication/controllerAPI/command/TimeIntervalCommand.java index e83dd8d8d5a..dfb0738f700 100644 --- a/ihmc-humanoid-robotics/src/main/java/us/ihmc/humanoidRobotics/communication/controllerAPI/command/TimeIntervalCommand.java +++ b/ihmc-humanoid-robotics/src/main/java/us/ihmc/humanoidRobotics/communication/controllerAPI/command/TimeIntervalCommand.java @@ -4,7 +4,7 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/FixedFramePolynomialEstimator3D.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/FixedFramePolynomialEstimator3D.java index f151193bc18..efc477614a6 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/FixedFramePolynomialEstimator3D.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/FixedFramePolynomialEstimator3D.java @@ -10,8 +10,8 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator.java index 121cb740451..67b091836df 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator.java @@ -6,9 +6,9 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator3D.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator3D.java index 9f4255e69e1..f7d8eca50bf 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator3D.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/PolynomialEstimator3D.java @@ -7,8 +7,8 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractFramePolynomial3D.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractFramePolynomial3D.java index 0a9eb566103..e01b5a508b6 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractFramePolynomial3D.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractFramePolynomial3D.java @@ -13,7 +13,7 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractPolynomial3D.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractPolynomial3D.java index 9b47a236fa4..883c37b8ba5 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractPolynomial3D.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/abstracts/AbstractPolynomial3D.java @@ -11,7 +11,7 @@ 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; diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Polynomial.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Polynomial.java index 0fe85ec157b..40f43d817e3 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Polynomial.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Polynomial.java @@ -4,8 +4,8 @@ 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. diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Trajectory3DFactories.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Trajectory3DFactories.java index 83d6d6cb678..5e7e2bad0a7 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Trajectory3DFactories.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/core/Trajectory3DFactories.java @@ -5,8 +5,8 @@ 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; diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/generators/MultipleSegmentPositionTrajectoryGenerator.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/generators/MultipleSegmentPositionTrajectoryGenerator.java index 5c4c5cc14d3..bf710665689 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/generators/MultipleSegmentPositionTrajectoryGenerator.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/generators/MultipleSegmentPositionTrajectoryGenerator.java @@ -6,9 +6,9 @@ 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; diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/Polynomial3DReadOnly.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/Polynomial3DReadOnly.java index 46e9db21df0..2e32ab45394 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/Polynomial3DReadOnly.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/Polynomial3DReadOnly.java @@ -3,8 +3,8 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/PolynomialReadOnly.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/PolynomialReadOnly.java index f533d9fc544..3b24d07c910 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/PolynomialReadOnly.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/interfaces/PolynomialReadOnly.java @@ -1,6 +1,6 @@ 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 { diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/yoVariables/YoPolynomial.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/yoVariables/YoPolynomial.java index 5eb37d9c101..04dadf057c2 100644 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/yoVariables/YoPolynomial.java +++ b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/math/trajectories/yoVariables/YoPolynomial.java @@ -7,8 +7,8 @@ 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; diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeInterval.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeInterval.java deleted file mode 100644 index b6be76d193e..00000000000 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeInterval.java +++ /dev/null @@ -1,59 +0,0 @@ -package us.ihmc.robotics.time; - -import us.ihmc.euclid.tools.EuclidCoreIOTools; - -public class TimeInterval implements TimeIntervalBasics -{ - private double startTime; - private double endTime; - - public TimeInterval() - { - this(Double.NaN, Double.NaN); - } - - public TimeInterval(TimeInterval timeInterval) - { - this(timeInterval.getStartTime(), timeInterval.getEndTime()); - } - - public TimeInterval(double startTime, double endTime) - { - setInterval(startTime, endTime); - checkInterval(); - } - - public double getStartTime() - { - return startTime; - } - - /** - * Use the interval setter when using this method! Otherwise, an incorrect interval may be set. - */ - @Deprecated - public void setStartTime(double startTime) - { - this.startTime = startTime; - } - - public double getEndTime() - { - return endTime; - } - - /** - * Use the interval setter when using this method! Otherwise, an incorrect interval may be set. - */ - @Deprecated - public void setEndTime(double endTime) - { - this.endTime = endTime; - } - - @Override - public String toString() - { - return EuclidCoreIOTools.getStringOf("(", " )", ", ", getStartTime(), getEndTime()); - } -} diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalBasics.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalBasics.java deleted file mode 100644 index f1547271de2..00000000000 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalBasics.java +++ /dev/null @@ -1,47 +0,0 @@ -package us.ihmc.robotics.time; - -import us.ihmc.euclid.tools.EuclidCoreIOTools; - -public interface TimeIntervalBasics extends TimeIntervalReadOnly -{ - /** - * Use the interval setter when using this method! Otherwise, an incorrect interval may be set. - */ - @Deprecated - void setStartTime(double startTime); - - /** - * Use the interval setter when using this method! Otherwise, an incorrect interval may be set. - */ - @Deprecated - void setEndTime(double endTime); - - default void reset() - { - setIntervalUnsafe(Double.NaN, Double.NaN); - } - - default void setInterval(double startTime, double endTime) - { - setIntervalUnsafe(startTime, endTime); - checkInterval(); - } - - default void setIntervalUnsafe(double startTime, double endTime) - { - setStartTime(startTime); - setEndTime(endTime); - } - - default void set(TimeIntervalReadOnly timeInterval) - { - setIntervalUnsafe(timeInterval.getStartTime(), timeInterval.getEndTime()); - } - - default TimeIntervalBasics shiftInterval(double shiftTime) - { - setIntervalUnsafe(getStartTime() + shiftTime, getEndTime() + shiftTime); - return this; - } - -} diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalProvider.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalProvider.java deleted file mode 100644 index e8e54af2943..00000000000 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalProvider.java +++ /dev/null @@ -1,6 +0,0 @@ -package us.ihmc.robotics.time; - -public interface TimeIntervalProvider -{ - TimeIntervalBasics getTimeInterval(); -} diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalReadOnly.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalReadOnly.java deleted file mode 100644 index e2b1dec4cc8..00000000000 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalReadOnly.java +++ /dev/null @@ -1,42 +0,0 @@ -package us.ihmc.robotics.time; - -import us.ihmc.commons.MathTools; - -public interface TimeIntervalReadOnly -{ - double getStartTime(); - - double getEndTime(); - - default double getDuration() - { - return getEndTime() - getStartTime(); - } - - default boolean epsilonEquals(TimeIntervalReadOnly other, double epsilon) - { - return MathTools.epsilonEquals(getStartTime(), other.getStartTime(), epsilon) && MathTools.epsilonEquals(getEndTime(), other.getEndTime(), epsilon); - } - - default boolean intervalContains(double time) - { - return MathTools.intervalContains(time, getStartTime(), getEndTime()); - } - - default boolean epsilonContains(double time, double epsilon) - { - return MathTools.intervalContains(time, getStartTime() - epsilon, getEndTime() + epsilon); - } - - default void checkInterval() - { - checkInterval(this); - } - - static void checkInterval(TimeIntervalReadOnly timeInterval) - { - if (timeInterval.getEndTime() < timeInterval.getStartTime()) - throw new IllegalArgumentException( - "The end time is not valid! End time " + timeInterval.getEndTime() + " must be greater than start time " + timeInterval.getStartTime()); - } -} diff --git a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalTools.java b/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalTools.java deleted file mode 100644 index e3fdfe29754..00000000000 --- a/ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/time/TimeIntervalTools.java +++ /dev/null @@ -1,239 +0,0 @@ -package us.ihmc.robotics.time; - -import us.ihmc.commons.MathTools; - -import java.util.ArrayList; -import java.util.Comparator; -import java.util.List; - -@SuppressWarnings("unchecked") -public class TimeIntervalTools -{ - - public static boolean areTimeIntervalsConsecutive(TimeIntervalProvider intervalA, TimeIntervalProvider intervalB) - { - return areTimeIntervalsConsecutive(intervalA, intervalB, 5e-3); - } - - public static boolean areTimeIntervalsConsecutive(TimeIntervalProvider intervalA, TimeIntervalProvider intervalB, double epsilon) - { - return areTimeIntervalsConsecutive(intervalA.getTimeInterval(), intervalB.getTimeInterval(), epsilon); - } - - public static boolean areTimeIntervalsConsecutive(TimeIntervalReadOnly intervalA, TimeIntervalReadOnly intervalB, double epsilon) - { - return MathTools.epsilonEquals(intervalA.getEndTime(), intervalB.getStartTime(), epsilon); - } - - public static boolean isTimeSequenceContinuous(List contactStateSequence) - { - return isTimeSequenceContinuous(contactStateSequence, 5e-3); - } - - public static boolean isTimeSequenceContinuous(List contactStateSequence, double epsilon) - { - for (int index = 0; index < contactStateSequence.size() - 1; index++) - { - if (!areTimeIntervalsConsecutive(contactStateSequence.get(index), contactStateSequence.get(index + 1), epsilon)) - return false; - } - - return true; - } - - public static boolean doIntervalsOverlap(TimeIntervalReadOnly intervalA, TimeIntervalReadOnly intervalB) - { - if (intervalA.intervalContains(intervalB.getStartTime())) - return true; - - if (intervalA.intervalContains(intervalB.getEndTime())) - return true; - - if (intervalB.intervalContains(intervalA.getStartTime())) - return true; - - return intervalB.intervalContains(intervalA.getEndTime()); - } - - static public void sortByStartTime(List timeIntervalProviders) - { - sort((List) timeIntervalProviders, startTimeComparator); - } - - static public void sortByReverseStartTime(List timeIntervalProviders) - { - sort((List) timeIntervalProviders, startTimeComparator.reversed()); - } - - static public void sortByEndTime(List timeIntervalProviders) - { - sort((List) timeIntervalProviders, endTimeComparator); - } - - static public void sortByReverseEndTime(List timeIntervalProviders) - { - sort((List) timeIntervalProviders, endTimeComparator.reversed()); - } - - public static void sort(List ts, Comparator comparator) - { - boolean ordered = false; - - while (!ordered) - { - ordered = true; - for (int i = 0; i < ts.size() - 1; i++) - { - T a = ts.get(i); - T b = ts.get(i + 1); - - if (comparator.compare(a, b) > 0) - { - ordered = false; - swap(ts, i, i + 1); - } - } - } - } - - private static void swap(List ts, int a, int b) - { - T tmp = ts.get(a); - ts.set(a, ts.get(b)); - ts.set(b, tmp); - } - - static public void removeStartTimesLessThan(double time, List timeIntervalProviders) - { - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().getStartTime() < time) - { - timeIntervalProviders.remove(i); - i--; - } - } - } - - static public void removeStartTimesLessThanOrEqualTo(double time, List timeIntervalProviders) - { - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().getStartTime() <= time) - { - timeIntervalProviders.remove(i); - i--; - } - } - } - - static public void removeStartTimesGreaterThan(double time, List timeIntervalProviders) - { - for (int i = timeIntervalProviders.size() - 1; i >= 0; i--) - { - if (timeIntervalProviders.get(i).getTimeInterval().getStartTime() > time) - { - timeIntervalProviders.remove(i); - } - } - } - - static public void removeStartTimesGreaterThanOrEqualTo(double time, List timeIntervalProviders) - { - for (int i = timeIntervalProviders.size() - 1; i >= 0; i--) - { - if (timeIntervalProviders.get(i).getTimeInterval().getStartTime() >= time) - { - timeIntervalProviders.remove(i); - } - } - } - - static public void removeEndTimesLessThan(double time, List timeIntervalProviders) - { - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().getEndTime() < time) - { - timeIntervalProviders.remove(i); - i--; - } - } - } - - static public void removeEndTimesLessThanOrEqualTo(double time, List timeIntervalProviders) - { - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().getEndTime() <= time) - { - timeIntervalProviders.remove(i); - i--; - } - } - } - - static public void removeEndTimesGreaterThan(double time, List timeIntervalProviders) - { - for (int i = timeIntervalProviders.size() - 1; i >= 0; i--) - { - if (timeIntervalProviders.get(i).getTimeInterval().getEndTime() > time) - { - timeIntervalProviders.remove(i); - } - } - } - - static public void removeEndTimesGreaterThanOrEqualTo(double time, List timeIntervalProviders) - { - for (int i = timeIntervalProviders.size() - 1; i >= 0; i--) - { - if (timeIntervalProviders.get(i).getTimeInterval().getEndTime() >= time) - { - timeIntervalProviders.remove(i); - } - } - } - - static public List removeAndReturnEndTimesLessThan(double time, List timeIntervalProviders) - { - List timeIntervalProvidersToRemove = new ArrayList<>(); - - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().getEndTime() < time) - { - timeIntervalProvidersToRemove.add(timeIntervalProviders.get(i)); - } - } - - return timeIntervalProvidersToRemove; - } - - static public List getIntervalsContainingTime(double time, List timeIntervalProviders) - { - List timeIntervalProvidersToRemove = new ArrayList<>(); - - for (int i = 0; i < timeIntervalProviders.size(); i++) - { - if (timeIntervalProviders.get(i).getTimeInterval().intervalContains(time)) - { - timeIntervalProvidersToRemove.add(timeIntervalProviders.get(i)); - } - } - - return timeIntervalProvidersToRemove; - } - - public static Comparator startTimeComparator = (TimeIntervalProvider a, TimeIntervalProvider b) -> { - double startTimeA = a.getTimeInterval().getStartTime(); - double startTimeB = b.getTimeInterval().getStartTime(); - return Double.compare(startTimeA, startTimeB); - }; - - public static Comparator endTimeComparator = (TimeIntervalProvider a, TimeIntervalProvider b) -> { - double endTimeA = a.getTimeInterval().getEndTime(); - double endTimeB = b.getTimeInterval().getEndTime(); - return Double.compare(endTimeA, endTimeB); - }; -} diff --git a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalTest.java b/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalTest.java deleted file mode 100644 index a81641d6bfc..00000000000 --- a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalTest.java +++ /dev/null @@ -1,50 +0,0 @@ -package us.ihmc.robotics.time; - -import org.junit.jupiter.api.Test; -import org.junit.jupiter.api.Tag; -import org.junit.jupiter.api.Disabled; -import us.ihmc.robotics.time.TimeInterval; - -import static us.ihmc.robotics.Assert.*; - -import static us.ihmc.robotics.Assert.*; - -public class TimeIntervalTest -{ - @Test - public void testAccessors() - { - double epsilon = 1e-6; - - TimeInterval timeInterval = new TimeInterval(0.0, 1.0); - assertEquals(timeInterval.getStartTime(), 0.0, epsilon); - assertEquals(timeInterval.getEndTime(), 1.0, epsilon); - assertEquals(timeInterval.getDuration(), 1.0, epsilon); - - timeInterval.setInterval(2.0, 3.0); - assertEquals(timeInterval.getStartTime(), 2.0, epsilon); - assertEquals(timeInterval.getEndTime(), 3.0, epsilon); - assertEquals(timeInterval.getDuration(), 1.0, epsilon); - - timeInterval.setStartTime(4.0); - timeInterval.setEndTime(5.0); - assertEquals(timeInterval.getStartTime(), 4.0, epsilon); - assertEquals(timeInterval.getEndTime(), 5.0, epsilon); - assertEquals(timeInterval.getDuration(), 1.0, epsilon); - - TimeInterval other = new TimeInterval(6.0, 7.0); - timeInterval.set(other); - assertTrue(timeInterval.epsilonEquals(other, epsilon)); - } - - @Test - public void testShiftInterval() - { - double epsilon = 1e-6; - - TimeInterval timeInterval = new TimeInterval(0.0, 1.0); - timeInterval.shiftInterval(10.0); - assertEquals(timeInterval.getStartTime(), 10.0, epsilon); - assertEquals(timeInterval.getEndTime(), 11.0, epsilon); - } -} diff --git a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalToolsTest.java b/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalToolsTest.java deleted file mode 100644 index a5c674ed692..00000000000 --- a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimeIntervalToolsTest.java +++ /dev/null @@ -1,98 +0,0 @@ -package us.ihmc.robotics.time; - -import us.ihmc.robotics.Assert; -import org.junit.jupiter.api.Test; -import org.junit.jupiter.api.Tag; -import org.junit.jupiter.api.Disabled; -import us.ihmc.robotics.time.TimeInterval; -import us.ihmc.robotics.time.TimeIntervalTools; - -import java.util.ArrayList; - -import static us.ihmc.robotics.Assert.*; - -public class TimeIntervalToolsTest -{ - @Test - public void testSortMethods() - { - double epsilon = 1e-6; - - int size = 10; - ArrayList arrayValues = new ArrayList<>(size); - - for (int i = 0; i < size; i++) - { - TimedValue tv = new TimedValue(i, new TimeInterval(i, i + 1)); - arrayValues.add(tv); - } - - TimeIntervalTools.sortByReverseStartTime(arrayValues); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), size - 1 - i, epsilon); - } - - TimeIntervalTools.sortByStartTime(arrayValues); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), i, epsilon); - } - - TimeIntervalTools.sortByReverseEndTime(arrayValues); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), size - 1 - i, epsilon); - } - - - TimeIntervalTools.sortByEndTime(arrayValues); - for (int i = 0; i < arrayValues.size(); i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), i, epsilon); - } - } - - @Test - public void testRemoveMethods() - { - double epsilon = 1e-6; - - int size = 10; - ArrayList arrayValues = new ArrayList<>(size); - - for (int i = 0; i < size; i++) - { - TimedValue tv = new TimedValue(i, new TimeInterval(i, i + 1)); - arrayValues.add(tv); - } - - TimeIntervalTools.removeEndTimesGreaterThan(8.5, arrayValues); - size = 8; - assertEquals(arrayValues.size(), size); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), i, epsilon); - } - - TimeIntervalTools.removeStartTimesGreaterThan(6.5, arrayValues); - size = 7; - assertEquals(arrayValues.size(), size); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), i, epsilon); - } - - TimeIntervalTools.removeStartTimesLessThan(1.5, arrayValues); - size = 5; - assertEquals(arrayValues.size(), size); - for (int i = 0; i < size; i++) - { - Assert.assertEquals(arrayValues.get(i).getValue(), i + 2, epsilon); - } - - TimeIntervalTools.removeEndTimesLessThan(6.5, arrayValues); - assertEquals(arrayValues.size(), 1); - Assert.assertEquals(arrayValues.get(0).getValue(), 6, epsilon); - } -} diff --git a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimedValue.java b/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimedValue.java deleted file mode 100644 index 9219bd88181..00000000000 --- a/ihmc-robotics-toolkit/src/test/java/us/ihmc/robotics/time/TimedValue.java +++ /dev/null @@ -1,36 +0,0 @@ -package us.ihmc.robotics.time; - -public class TimedValue implements TimeIntervalProvider -{ - private int value; - private final TimeInterval timeInterval; - - public TimedValue() - { - this.value = 0; - this.timeInterval = new TimeInterval(); - } - - public TimedValue(int value, TimeInterval timeInterval) - { - this.value = value; - this.timeInterval = new TimeInterval(timeInterval); - } - - public void set(TimedValue other) - { - this.value = other.value; - this.timeInterval.set(other.timeInterval); - } - - public int getValue() - { - return value; - } - - @Override - public TimeInterval getTimeInterval() - { - return timeInterval; - } -}