us.ihmc.simulationconstructionset.Robot.getYoTime()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.getYoTime方法的一些代码示例，展示了Robot.getYoTime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.getYoTime方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：getYoTime

Robot.getYoTime介绍

暂无

代码示例

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

public AbstractThreadedRobotController(String name, Robot simulatedRobot)
{
 this.name = name;
 this.registry = new YoVariableRegistry(name);
 this.currentControlTick = new YoLong("currentControlTick", registry);
 this.yoTime = simulatedRobot.getYoTime();
 this.simulatedRobot = simulatedRobot;
}

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

public TorqueSpeedDataExporterGraphCreator(Robot robot, DataBuffer dataBuffer)
{
 super(robot.getYoTime(), dataBuffer);
 for (Joint rootJoint : robot.getRootJoints())
 {
   recursivelyAddPinJoints(rootJoint, pinJoints);
 }
}

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

SinusoidalTorqueController(Robot robot)
{
  this.t = robot.getYoTime();
  this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName());
  Joint rootJoint = robot.getRootJoints().get(0);
  for(Joint childJoint : rootJoint.getChildrenJoints())
  {
   recursivelyAddJointTorqueProfile(childJoint);
  }
}

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

private double computeTotalMechanicalEnergy()
{
 double ret = 0.0;
 double[] mechanicalPower = computeTotalUnsignedMechanicalPower();
 double simulationTime = dataBuffer.getEntry(robot.getYoTime()).getMax();
 double simulationDT = simulationTime / dataBuffer.getBufferSize();
 for (int i = 0; i < mechanicalPower.length; i++)
 {
   ret += simulationDT * Math.abs(mechanicalPower[i]);
 }
 return ret;
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void setupSCS()
{
 SimulationTestingParameters simulationTestingParameters = SimulationTestingParameters.createFromSystemProperties();
 simulationTestingParameters.setKeepSCSUp(visualize);
 Robot robot = new Robot("Dummy");
 yoTime = robot.getYoTime();
 scs = new SimulationConstructionSet(robot, simulationTestingParameters);
}

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

YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, joint.getQYoVariable(), robot.getYoTime(), valueDataCheckerParameters, joint.getQDYoVariable());

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

@Override
public void build(FloatingInverseDynamicsJoint rootJoint, IMUDefinition[] imuDefinition, ForceSensorDefinition[] forceSensorDefinitions,
   ContactSensorHolder contactSensorHolder, RawJointSensorDataHolderMap rawJointSensorDataHolderMap, DesiredJointDataHolder estimatorDesiredJointDataHolder, YoVariableRegistry parentRegistry)
{
 ArrayList<Joint> rootJoints = robot.getRootJoints();
 if (rootJoints.size() > 1)
 {
   throw new RuntimeException("Robot has more than 1 rootJoint");
 }
 final Joint scsRootJoint = rootJoints.get(0);
 if (!(scsRootJoint instanceof FloatingJoint))
   throw new RuntimeException("Not FloatingJoint rootjoint found");
 SCSToInverseDynamicsJointMap scsToInverseDynamicsJointMap = SCSToInverseDynamicsJointMap.createByName((FloatingJoint) scsRootJoint, rootJoint);
 StateEstimatorSensorDefinitionsFromRobotFactory stateEstimatorSensorDefinitionsFromRobotFactory = new StateEstimatorSensorDefinitionsFromRobotFactory(
    scsToInverseDynamicsJointMap, imuMounts, groundContactPointBasedWrenchCalculators);
 this.stateEstimatorSensorDefinitions = stateEstimatorSensorDefinitionsFromRobotFactory.getStateEstimatorSensorDefinitions();
 Map<IMUMount, IMUDefinition> imuDefinitions = stateEstimatorSensorDefinitionsFromRobotFactory.getIMUDefinitions();
 Map<WrenchCalculatorInterface, ForceSensorDefinition> forceSensors = stateEstimatorSensorDefinitionsFromRobotFactory.getForceSensorDefinitions();
 this.simulatedSensorHolderAndReader = new SimulatedSensorHolderAndReader(stateEstimatorSensorDefinitions, sensorProcessingConfiguration, robot.getYoTime(), registry);
 createAndAddOrientationSensors(imuDefinitions, registry);
 createAndAddAngularVelocitySensors(imuDefinitions, registry);
 createAndAddForceSensors(forceSensors, registry);
 createAndAddLinearAccelerationSensors(imuDefinitions, registry);
 createAndAddOneDoFPositionAndVelocitySensors(scsToInverseDynamicsJointMap);
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

@Override
public void build(FloatingJointBasics rootJoint, IMUDefinition[] imuDefinition, ForceSensorDefinition[] forceSensorDefinitions,
         ContactSensorHolder contactSensorHolder, RawJointSensorDataHolderMap rawJointSensorDataHolderMap,
         JointDesiredOutputList estimatorDesiredJointDataHolder, YoVariableRegistry parentRegistry)
{
 ArrayList<Joint> rootJoints = robot.getRootJoints();
 if (rootJoints.size() > 1)
 {
   throw new RuntimeException("Robot has more than 1 rootJoint");
 }
 final Joint scsRootJoint = rootJoints.get(0);
 if (!(scsRootJoint instanceof FloatingJoint))
   throw new RuntimeException("Not FloatingJoint rootjoint found");
 SCSToInverseDynamicsJointMap scsToInverseDynamicsJointMap = SCSToInverseDynamicsJointMap.createByName((FloatingJoint) scsRootJoint, rootJoint);
 StateEstimatorSensorDefinitionsFromRobotFactory stateEstimatorSensorDefinitionsFromRobotFactory = new StateEstimatorSensorDefinitionsFromRobotFactory(scsToInverseDynamicsJointMap,
                                                                            imuMounts,
                                                                            groundContactPointBasedWrenchCalculators);
 this.stateEstimatorSensorDefinitions = stateEstimatorSensorDefinitionsFromRobotFactory.getStateEstimatorSensorDefinitions();
 Map<IMUMount, IMUDefinition> imuDefinitions = stateEstimatorSensorDefinitionsFromRobotFactory.getIMUDefinitions();
 Map<WrenchCalculatorInterface, ForceSensorDefinition> forceSensors = stateEstimatorSensorDefinitionsFromRobotFactory.getForceSensorDefinitions();
 this.simulatedSensorHolderAndReader = new SimulatedSensorHolderAndReader(stateEstimatorSensorDefinitions, sensorProcessingConfiguration,
                                      robot.getYoTime(), registry);
 createAndAddOrientationSensors(imuDefinitions, registry);
 createAndAddAngularVelocitySensors(imuDefinitions, registry);
 createAndAddForceSensors(forceSensors, registry);
 createAndAddLinearAccelerationSensors(imuDefinitions, registry);
 createAndAddOneDoFPositionAndVelocitySensors(scsToInverseDynamicsJointMap);
 parentRegistry.addChild(registry);
}

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

private double[] computeTotalUnsignedMechanicalPower()
{
 int dataLength = dataBuffer.getEntry(robot.getYoTime()).getData().length;
 double[] ret = new double[dataLength];
 for (int i = 0; i < dataLength; i++)
   ret[i] = 0.0;
 for (PinJoint joint : pinJoints)
 {
   double[] speed = dataBuffer.getEntry(joint.getQDYoVariable()).getData();
   double[] torque = dataBuffer.getEntry(joint.getTauYoVariable()).getData();
   double[] jointMechincalPower = computeMechanicalPower(speed, torque);
   for (int i = 0; i < dataLength; i++)
   {
    ret[i] += Math.abs(jointMechincalPower[i]);
   }
 }
 return ret;
}

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

private void writeInfoToWorkBook(WritableWorkbook workbook)
{
 WritableSheet infoSheet = workbook.createSheet("Run info", workbook.getNumberOfSheets());
 int labelColumn = 0;
 int dataColumn = 1;
 int row = 0;
 addStringToSheet(infoSheet, labelColumn, row, "Date: ", headerCellFormat);
 WritableCell dateCell = new DateTime(dataColumn, row, Date.from(ZonedDateTime.now().toInstant()));
 addCell(infoSheet, dateCell);
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Robot type: ", headerCellFormat);
 addStringToSheet(infoSheet, dataColumn, row, robot.getClass().getSimpleName());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Robot name: ", headerCellFormat);
 addStringToSheet(infoSheet, dataColumn, row, robot.getName());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Total mass [kg]: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, robot.computeCenterOfMass(new Point3D()));
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Run time [s]: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, dataBuffer.getEntry(robot.getYoTime()).getMax());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Mechanical cost of transport: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, computeMechanicalCostOfTransport());
 row++;
}

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

@Override
public void attachRobot(Robot robot)
{
  registry = new YoVariableRegistry("controllerRegistry");
  badGreekVariable = new YoEnum<BadGreekEnum>("badGreekVariable", registry, BadGreekEnum.class);
  badGreekVariable.set(BadGreekEnum.ALPHA);
  largeEnumVariable = new YoEnum<LargeEnum>("largeEnumVariable", registry, LargeEnum.class);
  largeEnumVariable
   .set(LargeEnum
     .THE_FOLLOWING_IS_TAKEN_FROM_RAIBERT_1986_ONE_PART_OF_THE_CONTROL_SYSTEM_EXCITED_THE_CYCLIC_MOTION_THAT_UNDERLIES_RUNNING_WHILE_REGULATING_THE_HEIGHT_TO_WHICH_THE_MACHINE_HOPPED);
  smallEnumVariable = new YoEnum<SmallEnum>("smallEnumVariable", registry, SmallEnum.class);
  smallEnumVariable.set(SmallEnum.IF);
  numberVariable = new YoDouble("numberVariable", registry);
  numberVariable.set(42.0);
  time = robot.getYoTime();
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
 public void testMaximumDerivative()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 Random random = new Random(1776L);
 double value = random.nextDouble();
 yoVariableValueDataChecker.setMaximumDerivative(value);
 assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumDerivative(), value, EPSILON);
 yoVariableValueDataChecker.setMaximumDerivative(-value);
 assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumDerivative(), value, EPSILON);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
 public void testMaximumValue()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 Random random = new Random(1776L);
 double value = random.nextDouble();
 yoVariableValueDataChecker.setMaximumValue(value);
 assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumValue(), value, EPSILON);
 yoVariableValueDataChecker.setMaximumValue(-value);
 assertFalse(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getMaximumValue() == value);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
 public void testErrorThresholdOnDerivativeComparison()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 Random random = new Random(1776L);
 double value = random.nextDouble();
 yoVariableValueDataChecker.setErrorThresholdOnDerivativeComparison(value);
 assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getErrorThresholdOnDerivativeComparison(), value, EPSILON);
 yoVariableValueDataChecker.setErrorThresholdOnDerivativeComparison(-value);
 assertEquals(yoVariableValueDataChecker.getValueDataCheckerParametersCopy().getErrorThresholdOnDerivativeComparison(), value, EPSILON);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000, expected=RuntimeException.class)
public void testSetMinGreaterThanMax()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 double value = 10.0;
 yoVariableValueDataChecker.setMaximumValue(value);
 yoVariableValueDataChecker.setMinimumValue(value + 1.0);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000, expected=RuntimeException.class)
public void testSetMaxLessThanMin()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 double value = 10.0;
 yoVariableValueDataChecker.setMinimumValue(value);
 yoVariableValueDataChecker.setMaximumValue(value - 10.0);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000, expected=RuntimeException.class)
public void testMinGreaterThanMax()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties();
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters);
 scs.hideViewport();
 scs.startOnAThread();
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 yoVariableValueDataChecker.setMaximumValue(1.0);
 yoVariableValueDataChecker.setMinimumValue(2.0);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000, expected=RuntimeException.class)
public void testMaxGreaterThanMin()
{
 Robot robot = new Robot("Derivative");
 YoVariableRegistry registry = new YoVariableRegistry("variables");
 YoDouble position = new YoDouble("position", registry);
 robot.addYoVariableRegistry(registry);
 SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties();
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters);
 scs.hideViewport();
 scs.startOnAThread();
 ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters();
 YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
 yoVariableValueDataChecker.setMinimumValue(2.0);
 yoVariableValueDataChecker.setMaximumValue(1.0);
}

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

valueDataCheckerParameters.setMinimumValue(-0.9);
YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);

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

valueDataCheckerParameters.setMinimumValue(offset - amplitude - 1.0);
YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters);
yoVariableValueDataChecker.cropFirstPoint();

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