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

SimulationConstructionSet.setDT介绍

暂无

代码示例

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

private SimulationConstructionSet constructSimulationConstructionSet(Robot robot, RobotController controller)
{
 SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();;
 parameters.setCreateGUI(SHOW_GUI);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters); 
 scs.setDT(DT, 1);
 
 Thread thread = new Thread(scs);
 thread.start();
 try
 {
   Thread.sleep(2000);
 } 
 catch (InterruptedException e)
 {
 }
 return scs;
}

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

private void setupSim()
{
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
 parameters.setCreateGUI(simulationTestingParameters.getCreateGUI());
 
 simulationConstructionSet = new SimulationConstructionSet(robot, parameters);
 simulationConstructionSet.setDT(0.001, 1);
 bsr = new BlockingSimulationRunner(simulationConstructionSet, 60.0 * 10.0);
 Thread simThread = new Thread(simulationConstructionSet);
 simThread.start();
}

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.x, scsCameraPosition.y, scsCameraPosition.z);
 scs.setCameraFix(scsCameraFix.x, scsCameraFix.y, scsCameraFix.z);
 scs.startOnAThread();
}

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.x, scsCameraPosition.y, scsCameraPosition.z);
 scs.setCameraFix(scsCameraFix.x, scsCameraFix.y, scsCameraFix.z);
 scs.startOnAThread();
}

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/DarpaRoboticsChallenge

public static void main(String[] args)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 DRCDemoEnvironmentSimpleSteeringWheelContact env = new DRCDemoEnvironmentSimpleSteeringWheelContact(yoGraphicsListRegistry);
 List<Robot> robots = env.getEnvironmentRobots();
 Robot[] robotArray = new Robot[robots.size()];
 robots.toArray(robotArray);
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
 parameters.setDataBufferSize(36000);
 SimulationConstructionSet scs = new SimulationConstructionSet(robotArray, parameters);
 scs.setDT(1e-4, 20);
 TerrainObject3D terrainObject = env.getTerrainObject3D();
 scs.addStaticLinkGraphics(terrainObject.getLinkGraphics());
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

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

public TestMultiThreadedSimulation()
{
 DoublePendulum doublePendulum = new DoublePendulum();
 SimulationConstructionSet scs = new SimulationConstructionSet(doublePendulum);
 DoublePendulumController controller = new DoublePendulumController(doublePendulum);
 
 MultiThreadedRobotController multiThreadedRobotController = new MultiThreadedRobotController("threadedController", doublePendulum, scs);
 multiThreadedRobotController.addController(controller, 10, false);
 multiThreadedRobotController.initialize();
 
 
 doublePendulum.setController(multiThreadedRobotController);
 
 scs.setDT(0.0001, 1);
 
 scs.startOnAThread();
}

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/simulation-construction-set-test

private void testAgainstLagrangianCalculation(RobotWithClosedFormDynamics robotWithClosedFormDynamics, double epsilon)
{
 robotWithClosedFormDynamics.setController(new DynamicsChecker(robotWithClosedFormDynamics, epsilon));
 SimulationConstructionSet scs = new SimulationConstructionSet(robotWithClosedFormDynamics, simulationTestingParameters);
 scs.setDT(1e-5, 20);
 scs.startOnAThread();
 BlockingSimulationRunner blockingSimulationRunner = new BlockingSimulationRunner(scs, 45.0);
 try
 {
   blockingSimulationRunner.simulateAndBlock(15.0);
 }
 catch(Exception e)
 {
   fail();
 }
}

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

private void setupSimulationConstructionSet()
{
 SimulationConstructionSetParameters simulationConstructionSetParameters = guiInitialSetup.get().getSimulationConstructionSetParameters();
 simulationConstructionSetParameters.setDataBufferSize(scsInitialSetup.get().getSimulationDataBufferSize());
 List<Robot> allSimulatedRobotList = new ArrayList<Robot>();
 allSimulatedRobotList.add(humanoidFloatingRootJointRobot);
 if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getEnvironmentRobots() != null)
 {
   allSimulatedRobotList.addAll(commonAvatarEnvironment.get().getEnvironmentRobots());
   commonAvatarEnvironment.get().addContactPoints(humanoidFloatingRootJointRobot.getAllGroundContactPoints());
   commonAvatarEnvironment.get().createAndSetContactControllerToARobot();
 }
 simulationConstructionSet = new SimulationConstructionSet(allSimulatedRobotList.toArray(new Robot[0]), guiInitialSetup.get().getGraphics3DAdapter(),
                              simulationConstructionSetParameters);
 simulationConstructionSet.setDT(robotModel.get().getSimulateDT(), 1);
}

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

private void setupSimulationConstructionSet()
{
 SimulationConstructionSetParameters simulationConstructionSetParameters = guiInitialSetup.get().getSimulationConstructionSetParameters();
 simulationConstructionSetParameters.setDataBufferSize(scsInitialSetup.get().getSimulationDataBufferSize());
 List<Robot> allSimulatedRobotList = new ArrayList<Robot>();
 allSimulatedRobotList.add(humanoidFloatingRootJointRobot);
 if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getEnvironmentRobots() != null)
 {
   allSimulatedRobotList.addAll(commonAvatarEnvironment.get().getEnvironmentRobots());
   commonAvatarEnvironment.get().addContactPoints(humanoidFloatingRootJointRobot.getAllGroundContactPoints());
   commonAvatarEnvironment.get().createAndSetContactControllerToARobot();
 }
 simulationConstructionSet = new SimulationConstructionSet(allSimulatedRobotList.toArray(new Robot[0]), guiInitialSetup.get().getGraphics3DAdapter(),
                              simulationConstructionSetParameters);
 simulationConstructionSet.setDT(robotModel.get().getSimulateDT(), 1);
}

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

public static void visualizeFootsteps(Robot nullRobot, List<Footstep> footsteps, List<ContactablePlaneBody> contactablePlaneBodies)
{
 SimulationConstructionSet scs = new SimulationConstructionSet(nullRobot);
 scs.setDT(0.25, 1);
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 int maxNumberOfContacts = 2;
 int maxPointsPerContact = 4;
 FootstepGeneratorVisualizer footstepGeneratorVisualizer = new FootstepGeneratorVisualizer(maxNumberOfContacts, maxPointsPerContact, rootRegistry,
    yoGraphicsListRegistry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 footstepGeneratorVisualizer.addFootstepsAndTickAndUpdate(scs, footsteps, contactablePlaneBodies);
 scs.startOnAThread();
 deleteFirstDataPointAndCropData(scs);
}

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

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithSimulationConstructionSet(double dtForViz,
                                               SideDependentList<ConvexPolygon2d> footPolygonsInSoleFrame)
{
 YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
                                                              registry, graphicsListRegistry);
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Test"));
 footstepPlannerVisualizer.setTickAndUpdatable(scs);
 scs.changeBufferSize(32000);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setDT(dtForViz, 1);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 return footstepPlannerVisualizer;
}

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.getX(), scsCameraPosition.getY(), scsCameraPosition.getZ());
 scs.setCameraFix(scsCameraFix.getX(), scsCameraFix.getY(), scsCameraFix.getZ());
 scs.startOnAThread();
}

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

@ContinuousIntegrationTest(estimatedDuration = 7.2)
@Test(timeout = 36000)
public void test()
{
 TwoLinkRobotForTesting twoLinkRobotForTesting = new TwoLinkRobotForTesting();
 SimulationConstructionSet scs = new SimulationConstructionSet(twoLinkRobotForTesting, simulationTestingParameters);
 scs.setDT(0.00001, 100);
 scs.startOnAThread();
 twoLinkRobotForTesting.setElbowPosition(0.0);
 twoLinkRobotForTesting.setUpperPosition(3.0);
 
 twoLinkRobotForTesting.setElbowVelocity(-2.0);
 twoLinkRobotForTesting.setUpperVelocity(-3.0);
 
 scs.simulate(6.0);
 
 while(scs.isSimulating())
 {
   Thread.yield();
 }
 
 RobotAllJointsDataChecker robotAllJointsDataChecker = new RobotAllJointsDataChecker(scs, twoLinkRobotForTesting);
 robotAllJointsDataChecker.cropFirstPoint();
 
 scs.applyDataProcessingFunction(robotAllJointsDataChecker);
}

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

public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description)
{
 nullRobot = new Robot("FootstepVisualizerRobot");
 
 if (groundProfile != null)
 {
   GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry());
   gcModel.setGroundProfile3D(groundProfile);
   nullRobot.setGroundContactModel(gcModel);
 }
 
 scs = new SimulationConstructionSet(nullRobot);
 
 if (linkGraphics != null)
 {
   scs.setGroundVisible(false);
   scs.addStaticLinkGraphics(linkGraphics);
 }
 
 printifdebug("Attaching exit listener");
 scs.setDT(1, 1);
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry);
 addText(scs, yoGraphicsListRegistry, description);
}

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

public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description)
{
 nullRobot = new Robot("FootstepVisualizerRobot");
 
 if (groundProfile != null)
 {
   GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry());
   gcModel.setGroundProfile3D(groundProfile);
   nullRobot.setGroundContactModel(gcModel);
 }
 
 scs = new SimulationConstructionSet(nullRobot);
 
 if (linkGraphics != null)
 {
   scs.setGroundVisible(false);
   scs.addStaticLinkGraphics(linkGraphics);
 }
 
 printifdebug("Attaching exit listener");
 scs.setDT(1, 1);
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry);
 addText(scs, yoGraphicsListRegistry, description);
}

代码示例来源：origin: us.ihmc/robot-environment-awareness-application

public void startSimulation() throws IOException
{
 SimpleLidarRobot robot = new SimpleLidarRobot();
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(true, RealtimeTools.nextPowerOfTwo(200000));
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
 double simDT = 0.0001;
 double controlDT = 0.01;
 scs.setDT(simDT, 10);
 scs.setSimulateDoneCriterion(() -> false);
 Graphics3DAdapter graphics3dAdapter = scs.getGraphics3dAdapter();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 SimpleLidarRobotController controller = new SimpleLidarRobotController(robot, controlDT, ros2Node, graphics3dAdapter,
                                     yoGraphicsListRegistry);
 robot.setController(controller, (int) (controlDT / simDT));
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 createGroundTypeListener(scs);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 scs.simulate();
}

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

@Disabled //org.junit.runners.model.TestTimedOutException: test timed out after 300000 milliseconds
@Test// timeout=300000
public void testSimulationConstructionSetNewViewportWindowUsingGUITestFixture() throws AWTException
{
 Assume.assumeTrue(!isGradleBuild());
 FallingBrickRobot robot = new FallingBrickRobot();
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
 scs.setDT(0.0001, 100);
 scs.setFrameMaximized();
 scs.startOnAThread();
 scs.setSimulateDuration(2.0);
 ThreadTools.sleep(2000);
 SimulationGUITestFixture testFixture = new SimulationGUITestFixture(scs);
 
 testFixture.closeAllViewportWindows();
 testFixture.selectNewViewportWindowMenu();
 
 testFixture.focusNthViewportWindow(0);
 ThreadTools.sleepForever();
 
 testFixture.closeAndDispose();
 scs.closeAndDispose();
 scs = null;
 testFixture = null;
}

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

@Test// timeout = 30000
public void testTimingMethods() throws AWTException
{
 scs.setDT(simulateDT, recordFrequency);
 double simulateDTFromSCS = scs.getDT();
 assertEquals(simulateDT, simulateDTFromSCS, epsilon);
 scs.setRecordDT(recordDT);
 double recordFreqFromSCS = scs.getRecordFreq();
 assertEquals(recordFreq, recordFreqFromSCS, epsilon);
 scs.setPlaybackRealTimeRate(realTimeRate);
 double realTimeRateFromSCS = scs.getPlaybackRealTimeRate();
 assertEquals(realTimeRate, realTimeRateFromSCS, epsilon);
 scs.setPlaybackDesiredFrameRate(frameRate);
 double frameRateFromSCS = scs.getPlaybackFrameRate();
 assertEquals(recomputedSecondsPerFrameRate, frameRateFromSCS, epsilon);
 int ticksPerCycle = computeTicksPerPlayCycle(simulateDT, recordFreq, realTimeRate, frameRate);
 double ticksPerCycleFromSCS = scs.getTicksPerPlayCycle();
 assertEquals(ticksPerCycle, ticksPerCycleFromSCS, epsilon);
 scs.setTime(Math.PI);
 double timeFromSCS = scs.getTime();
 assertEquals(Math.PI, timeFromSCS, epsilon);
}

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