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

SimulationConstructionSet.addYoVariableRegistry介绍

暂无

代码示例

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

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
 scs.addYoVariableRegistry(logDataProcessorRegistry);
 scs.addScript(this);
 controllerTimerCount = (YoLong) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
 haveFoundControllerTimerVariable = controllerTimerCount != null;
 if (!haveFoundControllerTimerVariable)
 {
   System.err.println("Could not find controller timer variable, running processors at log data rate");
 }
}

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

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
 scs.addYoVariableRegistry(logDataProcessorRegistry);
 scs.addScript(this);
 controllerTimerCount = (LongYoVariable) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
 haveFoundControllerTimerVariable = controllerTimerCount != null;
 if (!haveFoundControllerTimerVariable)
 {
   System.err.println("Could not find controller timer variable, running processors at log data rate");
 }
}

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

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
 scs.addYoVariableRegistry(logDataProcessorRegistry);
 scs.addScript(this);
 controllerTimerCount = (LongYoVariable) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
 haveFoundControllerTimerVariable = controllerTimerCount != null;
 if (!haveFoundControllerTimerVariable)
 {
   System.err.println("Could not find controller timer variable, running processors at log data rate");
 }
}

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

public void startVisualizer()
{
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.addYoVariableRegistry(registry);
 scs.setupGraphGroup("step times", new String[][]
 {
   {"t"}
 });
 scs.startOnAThread();
 scs.tickAndUpdate();
}

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

public void startVisualizer()
{
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.addYoVariableRegistry(registry);
 scs.setupGraphGroup("step times", new String[][]
 {
   {"t"}
 });
 scs.startOnAThread();
 scs.tickAndUpdate();
}

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

private void setupThreadDataSynchronizer()
{
 if (scsInitialSetup.get().getRunMultiThreaded())
 {
   threadDataSynchronizer = new ThreadDataSynchronizer(robotModel.get());
 }
 else
 {
   YoVariableRegistry threadDataSynchronizerRegistry = new YoVariableRegistry("ThreadDataSynchronizerRegistry");
   threadDataSynchronizer = new SingleThreadedThreadDataSynchronizer(simulationConstructionSet, robotModel.get(), threadDataSynchronizerRegistry);
   simulationConstructionSet.addYoVariableRegistry(threadDataSynchronizerRegistry);
 }
}

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

private void setupThreadDataSynchronizer()
{
 if (scsInitialSetup.get().getRunMultiThreaded())
 {
   threadDataSynchronizer = new ThreadDataSynchronizer(robotModel.get());
 }
 else
 {
   YoVariableRegistry threadDataSynchronizerRegistry = new YoVariableRegistry("ThreadDataSynchronizerRegistry");
   threadDataSynchronizer = new SingleThreadedThreadDataSynchronizer(simulationConstructionSet, robotModel.get(), threadDataSynchronizerRegistry);
   simulationConstructionSet.addYoVariableRegistry(threadDataSynchronizerRegistry);
 }
}

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

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
 super(new GridLayout(1, 0));
 registry = new YoVariableRegistry("PoseSequenceGUI");
 fullRobotModel = robotModel.createFullRobotModel();
 sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 sequence = new PlaybackPoseSequence(fullRobotModel);
 
 HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
 SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
 ModularRobotController controller = new ModularRobotController("Reader");
 controller.setRawSensorReader(reader);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.startOnAThread();
 sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
 String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
    "lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
 tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
 table = new JTable(tableModel);
 tableInit();
}

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

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
 super(new GridLayout(1, 0));
 registry = new YoVariableRegistry("PoseSequenceGUI");
 fullRobotModel = robotModel.createFullRobotModel();
 sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 sequence = new PlaybackPoseSequence(fullRobotModel);
 
 HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
 SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
 ModularRobotController controller = new ModularRobotController("Reader");
 controller.setRawSensorReader(reader);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.startOnAThread();
 sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
 String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
    "lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
 tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
 table = new JTable(tableModel);
 tableInit();
}

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

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
 super(new GridLayout(1, 0));
 registry = new YoVariableRegistry("PoseSequenceGUI");
 fullRobotModel = robotModel.createFullRobotModel();
 sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 sequence = new PlaybackPoseSequence(fullRobotModel);
 
 HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
 SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
 ModularRobotController controller = new ModularRobotController("Reader");
 controller.setRawSensorReader(reader);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.startOnAThread();
 sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
 String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
    "lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
 tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
 table = new JTable(tableModel);
 tableInit();
}

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-common-walking-control-modules-test

private void startSCS()
{
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setPlaybackRealTimeRate(0.025);
 Graphics3DObject linkGraphics = new Graphics3DObject();
 linkGraphics.addCoordinateSystem(0.3);
 scs.addStaticLinkGraphics(linkGraphics);
 scs.setCameraFix(0.0, 0.0, 0.5);
 scs.setCameraPosition(-0.5, 0.0, 1.0);
 SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory();
 simulationOverheadPlotterFactory.addYoGraphicsListRegistries(graphicsListRegistry);
 simulationOverheadPlotterFactory.createOverheadPlotter();
 scs.startOnAThread();
}

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

public ReachabilitySphereMapCalculator(OneDoFJointBasics[] robotArmJoints, SimulationConstructionSet scs)
{
 this.scs = scs;
 solver = new ReachabilityMapSolver(robotArmJoints, null, registry);
 FramePose3D gridFramePose = new FramePose3D(ReferenceFrame.getWorldFrame(), robotArmJoints[0].getFrameBeforeJoint().getTransformToWorldFrame());
 gridFramePose.appendTranslation(getGridSizeInMeters() / 2.5, 0.0, 0.0);
 setGridFramePose(gridFramePose);
 scs.addStaticLinkGraphics(ReachabilityMapTools.createReachibilityColorScale());
 scs.addYoGraphic(gridFrameViz);
 scs.addYoGraphic(currentEvaluationPose);
 scs.addYoGraphic(currentEvaluationPosition);
 scs.addYoVariableRegistry(registry);
}

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

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

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

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

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

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

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

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<ArrayList<Point2D>>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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

public ReachabilitySphereMapCalculator(OneDoFJoint[] robotArmJoints, SimulationConstructionSet scs)
{
 this.robotArmJoints = robotArmJoints;
 this.scs = scs;
 lastJoint = robotArmJoints[robotArmJoints.length - 1];
 jacobian = new GeometricJacobian(robotArmJoints, lastJoint.getSuccessor().getBodyFixedFrame());
 int maxIterations = 500;
 spatialInverseKinematicsCalculator = createNumericalInverseKinematicsCalculator(jacobian, maxIterations, true);
 linearInverseKinematicsCalculator = createNumericalInverseKinematicsCalculator(jacobian, maxIterations, false);
 ReferenceFrame frameBeforeRootJoint = robotArmJoints[0].getFrameBeforeJoint();
 RigidBodyTransform gridTransformToParent = new RigidBodyTransform(new AxisAngle4d(), new Vector3d(gridSizeInNumberOfVoxels * voxelSize / 3.0, 0.0, 0.0));
 ReferenceFrame gridFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("gridFrame", frameBeforeRootJoint, gridTransformToParent);
 Graphics3DObject gridFrameViz = new Graphics3DObject();
 gridFrameViz.transform(gridFrame.getTransformToDesiredFrame(ReferenceFrame.getWorldFrame()));
 gridFrameViz.addCoordinateSystem(1.0, YoAppearance.Blue());
 scs.addStaticLinkGraphics(gridFrameViz);
 sphereVoxelShape = new SphereVoxelShape(gridFrame, voxelSize, numberOfRays, numberOfRotationsAroundRay, SphereVoxelType.graspOrigin);
 voxel3dGrid = new Voxel3DGrid(gridFrame, sphereVoxelShape, gridSizeInNumberOfVoxels, voxelSize);
 scs.addYoVariableRegistry(registry);
}

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

public PolygonSnapperVisualizer(ConvexPolygon2D snappingPolygonShape)
{
 Robot robot = new Robot("Robot");
 scs = new SimulationConstructionSet(robot);
 scs.setDT(0.1, 1);
 polygonToSnap = new YoFrameConvexPolygon2D("polygonToSnap", ReferenceFrame.getWorldFrame(), 4, registry);
 snappedPolygon = new YoFrameConvexPolygon2D("snappedPolygon", ReferenceFrame.getWorldFrame(), 4, registry);
 polygonToSnap.set(snappingPolygonShape);
 snappedPolygon.set(snappingPolygonShape);
 polygonToSnapPose = new YoFramePoseUsingYawPitchRoll("polygonToSnapPose", ReferenceFrame.getWorldFrame(), registry);
 snappedPolygonPose = new YoFramePoseUsingYawPitchRoll("snappedPolygonPose", ReferenceFrame.getWorldFrame(), registry);
 polygonToSnapPose.setToNaN();
 snappedPolygonPose.setToNaN();
 polygonToSnapViz = new YoGraphicPolygon("polygonToSnapViz", polygonToSnap, polygonToSnapPose, 1.0, YoAppearance.Green());
 snappedPolygonViz = new YoGraphicPolygon("snappedPolygonViz", polygonToSnap, snappedPolygonPose, 1.0, YoAppearance.Red());
 polygonToSnapViz.update();
 snappedPolygonViz.update();
 scs.addYoGraphic(polygonToSnapViz);
 scs.addYoGraphic(snappedPolygonViz);
 scs.addYoVariableRegistry(registry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

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