public float[] getAngles()
{
float[] ang = new float[(int)NaoJointAngle.count];
for (int i = 0; i < (int)NaoJointAngle.count; i++)
{
ang[i] = this.angles[i];
}
return ang;
}
public double[] toArray(bool useJointvals) { // TODO: convert to joint vals if needed if (useJointvals) { AngleConverter ac = new AngleConverter(this); return Util.toDoubleArray(ac.getAngles()); } else return new double[] { joints[JointID.HipCenter].x, joints[JointID.HipCenter].y, joints[JointID.HipCenter].z}; }