set upt he factor

Author: rjgriffin42

external-control/src/main/java/us/ihmc/externalControl/ExternalControllerStateFactory.java

@@ -0,0 +1,42 @@
+package us.ihmc.externalControl;
+
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelControllerFactoryHelper;
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories.HighLevelControllerStateFactory;
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.HighLevelControllerState;
+import us.ihmc.communication.controllerAPI.CommandInputManager;
+import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
+import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
+
+public class ExternalControllerStateFactory implements HighLevelControllerStateFactory
+{
+   private ExternalControllerState externalControlState;
+
+   public ExternalControllerStateFactory()
+   {
+   }
+
+   @Override
+   public HighLevelControllerState getOrCreateControllerState(HighLevelControllerFactoryHelper controllerFactoryHelper)
+   {
+      if (externalControlState == null)
+      {
+         OneDoFJointBasics[] controlledJoints = controllerFactoryHelper.getHighLevelHumanoidControllerToolbox().getControlledOneDoFJoints();
+         CommandInputManager commandInputManager = controllerFactoryHelper.getCommandInputManager();
+
+         externalControlState = new ExternalControllerState("externalControl",
+                                                            HighLevelControllerName.EXTERNAL,
+                                                            controllerFactoryHelper.getHighLevelHumanoidControllerToolbox(),
+                                                            controlledJoints,
+                                                            controllerFactoryHelper.getLowLevelControllerOutput(),
+                                                            commandInputManager);
+      }
+
+      return externalControlState;
+   }
+
+   @Override
+   public HighLevelControllerName getStateEnum()
+   {
+      return HighLevelControllerName.EXTERNAL;
+   }
+}