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

SimulationConstructionSet.setTime介绍

暂无

代码示例

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

@Override
public void receivedTimestampAndData(long timestamp, ByteBuffer buffer)
{
 long delay = TimeTools.nanoSecondsToMillis(lastTimestamp - timestamp);
 delayValue.setText(delayFormat.format(delay));
 
 if (recording)
 {
   for (int i = 0; i < jointUpdaters.size(); i++)
   {
    jointUpdaters.get(i).update();
   }
   scs.setTime(TimeTools.nanoSecondstoSeconds(timestamp));
   scs.tickAndUpdate();
 }
}

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

@Override
public void receivedTimestampAndData(long timestamp, ByteBuffer buffer)
{
 long delay = TimeTools.nanoSecondsToMillis(lastTimestamp - timestamp);
 delayValue.setText(delayFormat.format(delay));
 if (recording)
 {
   for (int i = 0; i < jointUpdaters.size(); i++)
   {
    jointUpdaters.get(i).update();
   }
   scs.setTime(TimeTools.nanoSecondstoSeconds(timestamp));
   scs.tickAndUpdate();
 }
}

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

@Override
public void receivedTimestampAndData(long timestamp)
{
 if(++counter % displayOneInNPackets == 0)
 {
   long delay = Conversions.nanosecondsToMilliseconds(lastTimestamp - timestamp);
   delayValue.setText(delayFormat.format(delay));
   for (int i = 0; i < jointUpdaters.size(); i++)
   {
    jointUpdaters.get(i).update();
   }
   scs.setTime(Conversions.nanosecondsToSeconds(timestamp));
   updateLocalVariables();
   scs.tickAndUpdate();
 }
}

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

@Override
public void tickAndUpdate()
{
 scs.setTime(time.getDoubleValue());
 scs.tickAndUpdate();
 time.add(1.0);
}

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

public void variableChanged(YoVariable yoVariable)
 {
   System.out.println("Load Sequence Listener");
   JFileChooser chooser = new JFileChooser(new File("PoseSequences"));
   int approveOption = chooser.showOpenDialog(null);
   if (approveOption != JFileChooser.APPROVE_OPTION)
   {
    System.err.println("Can not load selected file :" + chooser.getName());
    return;
   }
   File selectedFile = chooser.getSelectedFile();
   PlaybackPoseSequence sequence = new PlaybackPoseSequence(fullRobotModelForSlider);
   PlaybackPoseSequenceReader.appendFromFile(sequence, selectedFile);
   double startTime = 0.0;
   double time = startTime;
   double dt = controlDT;
   interpolator.startSequencePlayback(sequence, startTime);
   while (!interpolator.isDone())
   {
    time = time + dt;
    scs.setTime(time);
    scs.tickAndUpdate();
   }
 }
}

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

public void notifyOfVariableChange(YoVariable yoVariable)
 {
   System.out.println("Load Sequence Listener");
   JFileChooser chooser = new JFileChooser(new File("PoseSequences"));
   int approveOption = chooser.showOpenDialog(null);
   if (approveOption != JFileChooser.APPROVE_OPTION)
   {
    System.err.println("Can not load selected file :" + chooser.getName());
    return;
   }
   File selectedFile = chooser.getSelectedFile();
   PlaybackPoseSequence sequence = new PlaybackPoseSequence(fullRobotModelForSlider);
   PlaybackPoseSequenceReader.appendFromFile(sequence, selectedFile);
   double startTime = 0.0;
   double time = startTime;
   double dt = controlDT;
   interpolator.startSequencePlayback(sequence, startTime);
   while (!interpolator.isDone())
   {
    time = time + dt;
    scs.setTime(time);
    scs.tickAndUpdate();
   }
 }
}

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

public void variableChanged(YoVariable yoVariable)
 {
   System.out.println("Load Sequence Listener");
   JFileChooser chooser = new JFileChooser(new File("PoseSequences"));
   int approveOption = chooser.showOpenDialog(null);
   if (approveOption != JFileChooser.APPROVE_OPTION)
   {
    System.err.println("Can not load selected file :" + chooser.getName());
    return;
   }
   File selectedFile = chooser.getSelectedFile();
   PlaybackPoseSequence sequence = new PlaybackPoseSequence(fullRobotModelForSlider);
   PlaybackPoseSequenceReader.appendFromFile(sequence, selectedFile);
   double startTime = 0.0;
   double time = startTime;
   double dt = controlDT;
   interpolator.startSequencePlayback(sequence, startTime);
   while (!interpolator.isDone())
   {
    time = time + dt;
    scs.setTime(time);
    scs.tickAndUpdate();
   }
 }
}

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

public void variableChanged(YoVariable yoVariable)
   {
     PlaybackPose pose = new PlaybackPose(fullRobotModelForSlider, sdfRobot);

     if (previousPose != null)
     {
      if (pose.epsilonEquals(previousPose, 1e-3, 1.0))
      {
        return;
      }
     }

     System.out.println("Adding pose to sequence list: " + pose);
     posePlaybackRobotPoseSequence.addPose(pose);  
     //         FramePoint location = new FramePoint(ReferenceFrame.getWorldFrame(), Math.random(), Math.random(), Math.random());
//         balls.setBall(location);

     double dt = 0.01;
     double morphTime = 1.0;
     for (double time = 0.0; time < morphTime; time = time + dt)
     {
      scs.setTime(time);
      scs.tickAndUpdate();
     }

     previousPose = pose;
   }

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

public void variableChanged(YoVariable yoVariable)
   {
     PlaybackPose pose = new PlaybackPose(fullRobotModelForSlider, sdfRobot);

     if (previousPose != null)
     {
      if (pose.epsilonEquals(previousPose, 1e-3, 1.0))
      {
        return;
      }
     }

     System.out.println("Adding pose to sequence list: " + pose);
     posePlaybackRobotPoseSequence.addPose(pose);  
     //         FramePoint location = new FramePoint(ReferenceFrame.getWorldFrame(), Math.random(), Math.random(), Math.random());
//         balls.setBall(location);

     double dt = 0.01;
     double morphTime = 1.0;
     for (double time = 0.0; time < morphTime; time = time + dt)
     {
      scs.setTime(time);
      scs.tickAndUpdate();
     }

     previousPose = pose;
   }

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

public void notifyOfVariableChange(YoVariable yoVariable)
   {
     PlaybackPose pose = new PlaybackPose(fullRobotModelForSlider, sdfRobot);

     if (previousPose != null)
     {
      if (pose.epsilonEquals(previousPose, 1e-3, 1.0))
      {
        return;
      }
     }

     System.out.println("Adding pose to sequence list: " + pose);
     posePlaybackRobotPoseSequence.addPose(pose);  
     //         FramePoint location = new FramePoint(ReferenceFrame.getWorldFrame(), Math.random(), Math.random(), Math.random());
//         balls.setBall(location);

     double dt = 0.01;
     double morphTime = 1.0;
     for (double time = 0.0; time < morphTime; time = time + dt)
     {
      scs.setTime(time);
      scs.tickAndUpdate();
     }

     previousPose = pose;
   }

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

public void addPlanarRegionsList(PlanarRegionsList planarRegions, AppearanceDefinition... appearances)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, planarRegions, appearances);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

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

private void playLoadedSequence()
{
 PlaybackPose morphedPose = interpolator.getPose(frameByframeTime);
 while (!interpolator.isDone())
 {
   frameByframeTime = frameByframeTime + controlDT;
   morphedPose = interpolator.getPose(frameByframeTime);
   previousPose = morphedPose;
   scs.setTime(frameByframeTime);
   scs.tickAndUpdate();
   //morphedPose.setRobotAtPose(sdfRobot);//don't update scs while playing back and connected to gazebo to avoid slider actuation delays
   {
    System.out.println("pose #: " + frameByframePoseNumber++ + " \t pausing for " + interpolator.getNextTransitionTimeDelay());
    if (playOnlyOnePose)
    {
      morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
      return;
    }
   }
   ThreadTools.sleep((long) (controlDT * 1000));
 }
 morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
 System.out.println("End of Play back");
}

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

private void playLoadedSequence()
{
 PlaybackPose morphedPose = interpolator.getPose(frameByframeTime);
 while (!interpolator.isDone())
 {
   frameByframeTime = frameByframeTime + controlDT;
   morphedPose = interpolator.getPose(frameByframeTime);
   previousPose = morphedPose;
   scs.setTime(frameByframeTime);
   scs.tickAndUpdate();
   //morphedPose.setRobotAtPose(sdfRobot);//don't update scs while playing back and connected to gazebo to avoid slider actuation delays
   {
    System.out.println("pose #: " + frameByframePoseNumber++ + " \t pausing for " + interpolator.getNextTransitionTimeDelay());
    if (playOnlyOnePose)
    {
      morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
      return;
    }
   }
   ThreadTools.sleep((long) (controlDT * 1000));
 }
 morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
 System.out.println("End of Play back");
}

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

public void addPolygon(RigidBodyTransform transform, ConvexPolygon2D polygon, AppearanceDefinition appearance)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 graphics3DObject.transform(transform);
 graphics3DObject.addPolygon(polygon, appearance);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

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

private void playLoadedSequence()
{
 PlaybackPose morphedPose = interpolator.getPose(frameByframeTime);
 while (!interpolator.isDone())
 {
   frameByframeTime = frameByframeTime + controlDT;
   morphedPose = interpolator.getPose(frameByframeTime);
   previousPose = morphedPose;
   scs.setTime(frameByframeTime);
   scs.tickAndUpdate();
   //morphedPose.setRobotAtPose(sdfRobot);//don't update scs while playing back and connected to gazebo to avoid slider actuation delays
   {
    System.out.println("pose #: " + frameByframePoseNumber++ + " \t pausing for " + interpolator.getNextTransitionTimeDelay());
    if (playOnlyOnePose)
    {
      morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
      return;
    }
   }
   ThreadTools.sleep((long) (controlDT * 1000));
 }
 morphedPose.setRobotAtPose(sdfRobot);// make sure scs ends in last pose
 System.out.println("End of Play back");
}

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

scs.setTime(time);
scs.tickAndUpdate();

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

scs.setTime(time);

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

scs.setTime(time);

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

scs.setTime(time);

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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