us.ihmc.simulationconstructionset.SimulationConstructionSet.getDataBuffer()方法的使用及代码示例

x33g5p2x  于2022-01-30 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.SimulationConstructionSet.getDataBuffer()方法的一些代码示例，展示了SimulationConstructionSet.getDataBuffer()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。SimulationConstructionSet.getDataBuffer()方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.SimulationConstructionSet
类名称：SimulationConstructionSet
方法名：getDataBuffer

SimulationConstructionSet.getDataBuffer介绍

暂无

代码示例

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

public DataBuffer getDataBuffer()
{
 return scs.getDataBuffer();
}

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

public DataBuffer getDataBuffer()
{
 return scs.getDataBuffer();
}

代码示例来源：origin: us.ihmc/ihmc-robot-data-visualizer

public DataBuffer getDataBuffer()
{
 return scs.getDataBuffer();
}

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

public TorqueSpeedDataExporter(SimulationConstructionSet scs, Robot robot, Class<?> rootClassForDirectory, String subdirectoryName)
{
 this.scs = scs;
 this.robot = robot;
 this.subdirectoryName = subdirectoryName;
 this.graphCreator = new TorqueSpeedDataExporterGraphCreator(robot, scs.getDataBuffer());
 this.excelWorkbookCreator = new DataExporterExcelWorkbookCreator(robot, scs.getDataBuffer());
 this.rootClassForDirectory = rootClassForDirectory;
}

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

public AbstractDataExporter(SimulationConstructionSet scs, String name, YoDouble timeYoVariable, Class<?> rootClassForDirectory,
   String subdirectoryName)
{
 this.scs = scs;
 this.name = name;
 this.subdirectoryName = subdirectoryName;
 this.graphCreator = new DataExporterGraphCreator(timeYoVariable, scs.getDataBuffer());
 //      this.excelWorkbookCreator = new DataExporterExcelWorkbookCreator(robot, scs.getDataBuffer());
 this.rootClassForDirectory = rootClassForDirectory;
}

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

private boolean getWrapBufferFromSCS(SimulationConstructionSet scs)
{
 return scs.getDataBuffer().getWrapBuffer();
}

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

private int getMaxBufferSizeFromSCS(SimulationConstructionSet scs)
{
 return scs.getDataBuffer().getMaxBufferSize();
}

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

private int getInOutBufferLengthFromSCS(SimulationConstructionSet scs)
{
 return scs.getDataBuffer().getBufferInOutLength();
}

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

private int getBufferSizeFromSCS(SimulationConstructionSet scs)
{
 return scs.getDataBuffer().getBufferSize();
}

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

@ContinuousIntegrationTest(estimatedDuration = 1.0)
@Test(timeout = 30000)
public void testDataExporterGraphCreator() throws IOException
{
  SimulationConstructionSet sim = createSimulation();
  TorqueSpeedDataExporterGraphCreator graphCreator = new TorqueSpeedDataExporterGraphCreator(sim.getRobots()[0], sim.getDataBuffer());
  File path = new File(System.getProperty("java.io.tmpdir"));
  Path tmpPath = Files.createTempDirectory(Paths.get(path.getAbsolutePath()), "test");
  graphCreator.createJointTorqueSpeedGraphs(tmpPath.toFile(), "", true, true);
  int fileCount = tmpPath.toFile().listFiles(new FilenameFilter()
    {
      @Override
      public boolean accept(File dir, String name)
      {
        return name.endsWith("jpg") || name.endsWith("pdf");
      }
    }).length;
  assertTrue(fileCount > 1);
  tmpPath.toFile().deleteOnExit();
}

代码示例来源：origin: us.ihmc/valkyrie

public static void main(String[] args)
  {
      final SimulationConstructionSet scs;

   // initialize SCS
   DRCRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, false);
   final FloatingRootJointRobot robot =robotModel.createHumanoidFloatingRootJointRobot(false);
   
   SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
   parameters.setDataBufferSize(65536);
   scs = new SimulationConstructionSet(robot, parameters);

   // add sysid button
   JButton button = new JButton("findCOM");
   button.addActionListener(new LinkComIDActionListener(scs.getDataBuffer(), robot));
   scs.addButton(button);
   scs.startOnAThread();

  }
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

public void computeTorqueOffsetsBasedOnAverages()
  {
   for (OneDoFJointBasics oneDoFJoint : oneDoFJoints)
   {
     YoDouble appliedTorque = controller.getAppliedTorqueYoVariable(oneDoFJoint);
     YoDouble estimatedTorque = controller.getEstimatedTorqueYoVariable(oneDoFJoint);
     YoDouble torqueOffset = controller.getTorqueOffsetVariable(oneDoFJoint);

     DataBuffer dataBuffer = simulationConstructionSet.getDataBuffer();
          if (appliedTorque != null)
     {
      double appliedTorqueAverage = dataBuffer.computeAverage(appliedTorque);
      double estimatedTorqueAverage = dataBuffer.computeAverage(estimatedTorque);

      torqueOffset.add(appliedTorqueAverage - estimatedTorqueAverage);

//            System.out.println("appliedTorque variable " + appliedTorque.getName() + " average = " + appliedTorqueAverage);
//            System.out.println("estimatedTorque variable " + estimatedTorque.getName() + " average = " + estimatedTorqueAverage);
//            System.out.println("Setting " + torqueOffset.getName() + " to " + torqueOffset.getDoubleValue());
     }
   }
  }

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

public void computeTorqueOffsetsBasedOnAverages()
  {
   for (OneDoFJoint oneDoFJoint : oneDoFJoints)
   {
     DoubleYoVariable appliedTorque = controller.getAppliedTorqueYoVariable(oneDoFJoint);
     DoubleYoVariable estimatedTorque = controller.getEstimatedTorqueYoVariable(oneDoFJoint);
     DoubleYoVariable torqueOffset = controller.getTorqueOffsetVariable(oneDoFJoint);

     DataBuffer dataBuffer = simulationConstructionSet.getDataBuffer();
          if (appliedTorque != null)
     {
      double appliedTorqueAverage = dataBuffer.computeAverage(appliedTorque);
      double estimatedTorqueAverage = dataBuffer.computeAverage(estimatedTorque);

      torqueOffset.add(appliedTorqueAverage - estimatedTorqueAverage);

//            System.out.println("appliedTorque variable " + appliedTorque.getName() + " average = " + appliedTorqueAverage);
//            System.out.println("estimatedTorque variable " + estimatedTorque.getName() + " average = " + estimatedTorqueAverage);
//            System.out.println("Setting " + torqueOffset.getName() + " to " + torqueOffset.getDoubleValue());
     }
   }
  }

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

public void initializeSimulation(SimulationConstructionSet scs)
{
 scs.setDT(simulateDT, recordFrequency);
 if (drawGroundProfile)
 {
   scs.addStaticLinkGraphics(createGroundLinkGraphicsFromGroundProfile(groundProfile3D));
 }
 if (SHOW_WORLD_COORDINATE_FRAME)
 {
   Graphics3DObject linkGraphics = new Graphics3DObject();
   linkGraphics.addCoordinateSystem(0.3);
   scs.addStaticLinkGraphics(linkGraphics);
 }
 /*
  * This makes sure that the initial values of all YoVariables that are added to the scs (i.e.
  * at index 0 of the data buffer) are properly stored in the data buffer
  */
 scs.getDataBuffer().copyValuesThrough();
}

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

double[] desiredICPXData = scs.getDataBuffer().getEntry(desiredICPX).getData();
double[] desiredICPYData = scs.getDataBuffer().getEntry(desiredICPY).getData();
double[] tValues = scs.getDataBuffer().getEntry(t).getData();
double dt = tValues[1] - tValues[0];

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

public void initializeSimulation(SimulationConstructionSet scs)
  {
   scs.setDT(simulateDT, recordFrequency);

   if (drawGroundProfile)
   {
//         boolean drawGroundBelow = false;
     //         ArrayList<Graphics3DObject> groundLinkGraphics = commonTerrain.createLinkGraphics(drawGroundBelow);
     ArrayList<Graphics3DObject> groundLinkGraphics = createGroundLinkGraphicsFromGroundProfile(groundProfile3D);
     scs.addStaticLinkGraphics(groundLinkGraphics);
   }
   
   if (SHOW_WORLD_COORDINATE_FRAME)
   {
     Graphics3DObject linkGraphics = new Graphics3DObject();
     linkGraphics.addCoordinateSystem(0.3);
     scs.addStaticLinkGraphics(linkGraphics);
   }

   /*
    * This makes sure that the initial values of all YoVariables that are added to the scs (i.e. at index 0 of the data buffer)
    * are properly stored in the data buffer
    */
   scs.getDataBuffer().copyValuesThrough();

  }

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

public void initializeSimulation(SimulationConstructionSet scs)
  {
   scs.setDT(simulateDT, recordFrequency);

   if (drawGroundProfile)
   {
//         boolean drawGroundBelow = false;
     //         ArrayList<Graphics3DObject> groundLinkGraphics = commonTerrain.createLinkGraphics(drawGroundBelow);
     ArrayList<Graphics3DObject> groundLinkGraphics = createGroundLinkGraphicsFromGroundProfile(groundProfile3D);
     scs.addStaticLinkGraphics(groundLinkGraphics);
   }
   
   if (SHOW_WORLD_COORDINATE_FRAME)
   {
     Graphics3DObject linkGraphics = new Graphics3DObject();
     linkGraphics.addCoordinateSystem(0.3);
     scs.addStaticLinkGraphics(linkGraphics);
   }

   /*
    * This makes sure that the initial values of all YoVariables that are added to the scs (i.e. at index 0 of the data buffer)
    * are properly stored in the data buffer
    */
   scs.getDataBuffer().copyValuesThrough();

  }

代码示例来源：origin: us.ihmc/acsell

@Override
public void starting(SimulationConstructionSet scs, Robot robot, YoVariableRegistry registry)
{
 registry.addChild(sliderBoardRegistry);
 final SliderBoardConfigurationManager sliderBoardConfigurationManager = new SliderBoardConfigurationManager(scs);
  for (StepprStandPrepSetpoints setpoint : StepprStandPrepSetpoints.values)
 {
   StandPrepVariables variables = new StandPrepVariables(setpoint, registry);
   StepprJoint aJoint = setpoint.getJoints()[0];
   sliderBoardConfigurationManager.setKnob(1, selectedJointPair, 0, StepprJoint.values.length);
   sliderBoardConfigurationManager.setSlider(1, variables.tau_d, -100.0, 100.0);
   sliderBoardConfigurationManager.setSlider(3, variables.damping, 0, 5 * aJoint.getRatio() * aJoint.getRatio());
      sliderBoardConfigurationManager.saveConfiguration(setpoint.toString());
   allSetpoints.put(setpoint, variables);
 }
 selectedJointPair.addVariableChangedListener(new VariableChangedListener()
 {
   @Override
   public void notifyOfVariableChange(YoVariable<?> v)
   {
    sliderBoardConfigurationManager.loadConfiguration(selectedJointPair.getEnumValue().toString());
   }
 });
 selectedJointPair.set(StepprStandPrepSetpoints.HIP_Y);
 StepprDashboard.createDashboard(scs, registry);
 scs.getDataBuffer().attachIndexChangedListener(this);
}

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

GUISideCommandListener robotCommandListener = new GUISideCommandListener(scs.getDataBuffer(), scs.getRootRegistry(), guiUpdater, guiUpdater);
RobotSocketConnection robotSocketConnection = new RobotSocketConnection(host, robotCommandListener, scs.getRootRegistry(), newDataListeners);

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

DataBuffer dataBuffer = scs.getDataBuffer();

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