us.ihmc.simulationconstructionset.Robot.setController()方法的使用及代码示例

x33g5p2x  于2022-01-29 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.Robot.setController方法的一些代码示例，展示了Robot.setController的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。Robot.setController方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：setController

Robot.setController介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

@Override
public void createAndSetContactControllerToARobot()
{
 ContactController contactController = new ContactController();
 contactController.setContactParameters(100000.0, 100.0, 0.5, 0.3);
 contactController.addContactPoints(contactPoints);
 for (Robot r : contactableRobots)
 {
   if (r instanceof Contactable)
    contactController.addContactable((Contactable) r);
 }
 if (contactableRobots.size() > 0)
   contactableRobots.get(0).setController(contactController);
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

@Override
public void createAndSetContactControllerToARobot()
{
 ContactController contactController = new ContactController();
 contactController.setContactParameters(100000.0, 100.0, 0.5, 0.3);
 contactController.addContactPoints(contactPoints);
 for (Robot r : contactableRobots)
 {
   if (r instanceof Contactable)
    contactController.addContactable((Contactable) r);
 }
 if (contactableRobots.size() > 0)
   contactableRobots.get(0).setController(contactController);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private SimulationConstructionSet constructRewindableSimulationConstructionSet()
{
 Robot robot = new Robot("Test");
 RobotController controller = new RewindableController(robot);
 robot.setController(controller);
 
 return constructSimulationConstructionSet(robot, controller);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private SimulationConstructionSet constructDifficultToDetectNonRewindableSimulationConstructionSet()
{
 Robot robot = new Robot("Test");
 RobotController controller = new DifficultToDetectNonRewindableController(robot);
 robot.setController(controller);
 
 return constructSimulationConstructionSet(robot, controller);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

@Override
public void createAndSetContactControllerToARobot()
{
 ContactController contactController = new ContactController();
 contactController.setContactParameters(100000.0, 100.0, 0.5, 0.3);
 contactController.addContactPoints(contactPoints);
 for (Robot r : contactableRobots)
 {
   if (r instanceof Contactable)
    contactController.addContactable((Contactable) r);
 }
 if (contactableRobots.size() > 0)
   contactableRobots.get(0).setController(contactController);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private SimulationConstructionSet constructEasilyDetectableNonRewindableSimulationConstructionSet()
{
 Robot robot = new Robot("Test");
 RobotController controller = new EasilyDetectableNonRewindableController(robot);
 robot.setController(controller);
 
 return constructSimulationConstructionSet(robot, controller);
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

@Override
public void createAndSetContactControllerToARobot()
{
 ContactController contactController = new ContactController();
 contactController.setContactParameters(10000.0, 1000.0, 0.5, 0.3);
 contactController.addContactPoints(contactPoints);
 contactController.addContactables(contactables);
 envRobots.get(0).setController(contactController);
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

@Override
public void createAndSetContactControllerToARobot()
{
 // add contact controller to any robot so it gets called
 ContactController contactController = new ContactController();
 contactController.setContactParameters(10000.0, 1000.0, 0.5, 0.3);
 contactController.addContactPoints(contactPoints);
 contactController.addContactables(contactables);
 environmentRobots.get(0).setController(contactController);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 11.3)
@Test(timeout=3000000)
public void testLinearAndAngularMomentumAreConverved()
{
 int numberOfRobotsToTest = 5;
 int minNumberOfAxes = 2;
 int maxNumberOfAxes = 10;
 Robot[] robots = new Robot[numberOfRobotsToTest];
 for (int i = 0; i < numberOfRobotsToTest; i++)
 {
   Robot robot = new RobotTools.SCSRobotFromInverseDynamicsRobotModel("robot" + i, getRandomFloatingChain(minNumberOfAxes, maxNumberOfAxes).getRootJoint());
   robot.setGravity(0.0, 0.0, 0.0);
   robot.setController(new ConservedQuantitiesChecker(robot));
   robot.setController(new SinusoidalTorqueController(robot));
   robots[i] = robot;
 }
 SimulationConstructionSet scs = new SimulationConstructionSet(robots, simulationTestingParameters);
 scs.startOnAThread();
 BlockingSimulationRunner blockingSimulationRunner = new BlockingSimulationRunner(scs, 30.0);
 try
 {
   blockingSimulationRunner.simulateAndBlock(8.0);
 }
 catch(BlockingSimulationRunner.SimulationExceededMaximumTimeException | ControllerFailureException e)
 {
   e.printStackTrace();
   fail();
 }
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public DRCSimulationVisualizer(Robot robot, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 this.robot = robot;
 
 YoGraphicsList yoGraphicsList = new YoGraphicsList("Simulation Viz");
 ArrayList<GroundContactPoint> groundContactPoints = robot.getAllGroundContactPoints();
 AppearanceDefinition appearance = YoAppearance.Red(); // BlackMetalMaterial();
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   double scaleFactor = 0.0015;
   YoGraphicVector dynamicGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(), groundContactPoint.getYoForce(), scaleFactor, appearance);
   yoGraphicsList.add(dynamicGraphicVector);
 }
 
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 
 
 robot.setController(this, 10);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

private void createContactPoints(Robot floatingRobot)
{
 GroundContactPoint contactPoint1 = new GroundContactPoint("contactPoint1", new Vector3D(0.0, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint1);
 GroundContactPoint contactPoint2 = new GroundContactPoint("contactPoint2", new Vector3D(-0.002, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint2);
 GroundContactPoint contactPoint3 = new GroundContactPoint("contactPoint3", new Vector3D(0.002, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint3);
 ContactController contactController = new ContactController();
 contactController.setContactParameters(10000.0, 1000.0, 0.5, 0.3);
 contactController.addContactPoints(robots[0].getAllGroundContactPoints());
 ArrayList<Contactable> robotList = new ArrayList<Contactable>();
 robotList.add((Contactable) robots[1]);
 contactController.addContactables(robotList);
 robots[1].setController(contactController);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

@ContinuousIntegrationTest(estimatedDuration = 0.6)
@Test(timeout = 30000)
public void testTwoRewindableSimulationsWithAScript() throws IllegalArgumentException, SecurityException, IllegalAccessException, NoSuchFieldException, UnreasonableAccelerationException
{      
 Robot robot0 = createSimpleRobot();
 RobotController rewindableController0 = new RewindableOrNotRewindableController(true);
 robot0.setController(rewindableController0);
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(); 
 parameters.setCreateGUI(false);
 parameters.setDataBufferSize(100);
 SimulationConstructionSet scs0 = new SimulationConstructionSet(robot0, parameters);
 scs0.setDT(0.0001, 11);
 scs0.startOnAThread();
 Robot robot1 = createSimpleRobot();
 RobotController rewindableController1 = new RewindableOrNotRewindableController(true);
 robot1.setController(rewindableController1);
 SimulationConstructionSet scs1 = new SimulationConstructionSet(robot1, parameters);
 scs1.setDT(0.0001, 11);
 scs1.startOnAThread();
 int nTicksInitial = 121; 
 int nTicksCompare = 121; 
 int nTicksFinal = 11; 
 SimulationComparisonScript script = new SimpleRewindabilityComparisonScript(nTicksInitial, nTicksCompare, nTicksFinal);
 ReflectionSimulationComparer.compareTwoSimulations(scs0, scs1, script, true, true);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

@ContinuousIntegrationTest(estimatedDuration = 0.5)
@Test(timeout = 30000)
public void testTwoNonRewindableSimulationsWithAScript() throws IllegalArgumentException, SecurityException, IllegalAccessException, NoSuchFieldException, UnreasonableAccelerationException
{      
 Robot robot0 = new Robot("robot");
 RobotController rewindableController0 = new RewindableOrNotRewindableController(false);
 robot0.setController(rewindableController0);
 
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(); 
 parameters.setCreateGUI(false);
 parameters.setDataBufferSize(100);
 SimulationConstructionSet scs0 = new SimulationConstructionSet(robot0, parameters);
 scs0.setDT(0.0001, 10);
 scs0.startOnAThread();
 Robot robot1 = new Robot("robot");
 RobotController rewindableController1 = new RewindableOrNotRewindableController(false);
 robot1.setController(rewindableController1);
 SimulationConstructionSet scs1 = new SimulationConstructionSet(robot1, parameters);
 scs1.setDT(0.0001, 10);
 scs1.startOnAThread();
 int nTicksInitial = 20; 
 int nTicksCompare = 30; 
 int nTicksFinal = 40; 
 SimulationComparisonScript script = new SimpleRewindabilityComparisonScript(nTicksInitial, nTicksCompare, nTicksFinal);
 ReflectionSimulationComparer.compareTwoSimulations(scs0, scs1, script, false, true);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

robot.setController(toolboxUpdater);
robot.setDynamic(false);
robot.setGravity(0);

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

dummy.setController(new Controller(graphicsListRegistry));

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

robot.setController(this);

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

private void createFloatingRobot()
{
 Robot floatingRobot = new Robot("floatingRobot");
 Vector3D position = new Vector3D(0.0, 0.02, 1.1);
 double length = 0.01;
 floatingRobot.setGravity(0.0, 0.0, 0.0);
 horizontalJoint = new SliderJoint("y", position, floatingRobot, Axis.Y);
 floatingRobot.addRootJoint(horizontalJoint);
 Link linkHorizontal = new Link("linkHorizontal");
 linkHorizontal.setMass(0.5);
 linkHorizontal.setComOffset(length / 2.0, 0.0, 0.0);
 linkHorizontal.setMomentOfInertia(0.0, 0.01, 0.0);
 Graphics3DObject linkHorizontalGraphics = new Graphics3DObject();
 linkHorizontalGraphics.addCylinder(length * 10, 0.005, YoAppearance.Orange());
 linkHorizontal.setLinkGraphics(linkHorizontalGraphics);
 horizontalJoint.setLink(linkHorizontal);
 verticalJoint = new SliderJoint("z", new Vector3D(0.0, 0.0, 0.0), floatingRobot, Axis.Z);
 Link linkVertical = new Link("linkVertical");
 linkVertical.setMass(0.5);
 linkVertical.setComOffset(length / 2.0, 0.0, 0.0);
 linkVertical.setMomentOfInertia(0.0, 0.01, 0.0);
 Graphics3DObject linkVerticalGraphics = new Graphics3DObject();
 linkVerticalGraphics.addCylinder(length, 0.005, YoAppearance.Blue());
 linkVertical.setLinkGraphics(linkVerticalGraphics);
 verticalJoint.setLink(linkVertical);
 horizontalJoint.addJoint(verticalJoint);
 createFloatingRobotController();
 robots[0] = floatingRobot;
 robots[0].setController(floatingRobotController);
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

rootJoint = new FloatingJoint("floating", new Vector3d(), robot);
robot.getRobotsYoVariableRegistry();
robot.setController(this);
scs.setRobot(robot);
swingLeg.set(RobotQuadrant.FRONT_RIGHT);

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

rootJoint = new FloatingJoint("floating", new Vector3d(), robot);
robot.getRobotsYoVariableRegistry();
robot.setController(this);
scs = new SimulationConstructionSet();
scs.setRobot(robot);

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

robot.setController(this);
scs = new SimulationConstructionSet();
scs.setRobot(robot);

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