us.ihmc.robotics.robotSide.RobotSide.getLowerCaseName()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.robotics.robotSide.RobotSide.getLowerCaseName方法的一些代码示例，展示了RobotSide.getLowerCaseName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。RobotSide.getLowerCaseName方法的具体详情如下：
包路径：us.ihmc.robotics.robotSide.RobotSide
类名称：RobotSide
方法名：getLowerCaseName

RobotSide.getLowerCaseName介绍

暂无

代码示例

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

@Override
  public String getDescription()
  {
   return "Simulated controller for the " + robotSide.getLowerCaseName() + " Robotiq hands.";
  }
}

代码示例来源：origin: us.ihmc/valkyrie

@Override
public String getDescription()
{
 return "Controller for " + robotSide.getLowerCaseName() + " Valkyrie fingers in both simulation and real robot environments.";
}

代码示例来源：origin: us.ihmc/robotiq-hand-drivers

@Override
  public String getDescription()
  {
   return "Simulated controller for the " + robotSide.getLowerCaseName() + " Robotiq hands.";
  }
}

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

public HandControlThread(RobotSide robotSide)
  {
   String nodeName = robotSide.getLowerCaseName() + "_" + CaseFormat.UPPER_CAMEL.to(CaseFormat.LOWER_UNDERSCORE, getClass().getSimpleName());
   realtimeRos2Node = ROS2Tools.createRealtimeRos2Node(PubSubImplementation.FAST_RTPS, nodeName);
  }
}

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

@Override
public String toString()
{
 return "Node: x=" + getX() + ", y=" + getY() + ", yaw=" + getYaw() + ", side=" + robotSide.getLowerCaseName();
}

代码示例来源：origin: us.ihmc/acsell

public WandererFootSensorManager(SideDependentList<DenseMatrix64F> footWrenches, EnumMap<WandererJoint, AcsellJointState> jointStates, EnumMap<WandererActuator, AcsellActuatorState> actuatorStates, YoVariableRegistry parentRegistry)
{
 this.jointStates = jointStates;
 this.actuatorStates = actuatorStates;
 this.footWrenches = footWrenches;
 for(int i=0;i<PRESSURE_SENSORS_PER_FOOT; i++)
 {
   leftPressureSensorValues.add(new YoDouble("leftFootSensor" + i, registry));
   rightPressureSensorValues.add(new YoDouble("rightFootSensor" + i, registry));
 }
 for(RobotSide side : RobotSide.values)
 {
   feetForceZ.put(side,new YoDouble(side.getLowerCaseName()+"WandererFootForceZ", registry));
   feetTauX.put(side,new YoDouble(side.getLowerCaseName()+"WandererFootTauX", registry));
   feetTauY.put(side,new YoDouble(side.getLowerCaseName()+"WandererFootTauY", registry));
   feetCoPX.put(side,new YoDouble(side.getLowerCaseName()+"WandererFootCoPX", registry));
   feetCoPY.put(side,new YoDouble(side.getLowerCaseName()+"WandererFootCoPY", registry));
 }
 pressureSensorValues.put(RobotSide.LEFT,leftPressureSensorValues);
 pressureSensorValues.put(RobotSide.RIGHT,rightPressureSensorValues);      
 
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/valkyrie

this.name = robotSide.getLowerCaseName() + enumType.getSimpleName();

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

public HandCommandManager(Class<? extends Object> clazz, RobotSide robotSide)
{
 String networkParamProperty = System.getProperty("us.ihmc.networkParameterFile", NetworkParameters.defaultParameterFile);
 
 spawner.spawn(clazz, new String[] {"-Dus.ihmc.networkParameterFile=" + networkParamProperty}, new String[] { "-r", robotSide.getLowerCaseName() });
 NetworkPorts managerPort = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_MANAGER_PORT : NetworkPorts.RIGHT_HAND_MANAGER_PORT;
 handManagerPacketCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(managerPort, new IHMCCommunicationKryoNetClassList());
 NetworkPorts port = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT;
 packetCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, new IHMCCommunicationKryoNetClassList());
 try
 {
   packetCommunicator.connect();
   handManagerPacketCommunicator.connect();
 }
 catch (IOException e)
 {
   throw new RuntimeException(e);
 }
}

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

public HandCommandManager(Class<? extends Object> clazz, RobotSide robotSide)
{
 String networkParamProperty = System.getProperty("us.ihmc.networkParameterFile", NetworkParameters.defaultParameterFile);
 
 spawner.spawn(clazz, new String[] {"-Dus.ihmc.networkParameterFile=" + networkParamProperty}, new String[] { "-r", robotSide.getLowerCaseName() });
 NetworkPorts managerPort = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_MANAGER_PORT : NetworkPorts.RIGHT_HAND_MANAGER_PORT;
 handManagerPacketCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(managerPort, new IHMCCommunicationKryoNetClassList());
 NetworkPorts port = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT;
 packetCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, new IHMCCommunicationKryoNetClassList());
 try
 {
   packetCommunicator.connect();
   handManagerPacketCommunicator.connect();
 }
 catch (IOException e)
 {
   throw new RuntimeException(e);
 }
}

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

public HandCommandManager(Class<? extends Object> clazz, RobotSide robotSide)
{
 String networkParamProperty = System.getProperty("us.ihmc.networkParameterFile", NetworkParameters.defaultParameterFile);
 
 spawner.spawn(clazz, new String[] {"-Dus.ihmc.networkParameterFile=" + networkParamProperty}, new String[] { "-r", robotSide.getLowerCaseName() });
 NetworkPorts managerPort = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_MANAGER_PORT : NetworkPorts.RIGHT_HAND_MANAGER_PORT;
 handManagerPacketCommunicator = PacketCommunicator.createIntraprocessPacketCommunicator(managerPort, new IHMCCommunicationKryoNetClassList());
 NetworkPorts port = robotSide.equals(RobotSide.LEFT) ? NetworkPorts.LEFT_HAND_PORT : NetworkPorts.RIGHT_HAND_PORT;
 packetCommunicator = PacketCommunicator.createTCPPacketCommunicatorServer(port, new IHMCCommunicationKryoNetClassList());
 try
 {
   packetCommunicator.connect();
   handManagerPacketCommunicator.connect();
 }
 catch (IOException e)
 {
   throw new RuntimeException(e);
 }
}

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

YoFrameVector translationPhase = new YoFrameVector(robotSide.getLowerCaseName() + "TranslationPhase", null, registry);
YoFrameVector rotationPhaseEuler = new YoFrameVector(robotSide.getLowerCaseName() + "RotationPhase", null, registry);

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

String name = robotSide.getLowerCaseName() + "FootAssumeCopOnEdge";
YoBoolean variable = (YoBoolean) registry.getVariable(name);
variable.set(true);
name = robotSide.getLowerCaseName() + "FootAssumeFootBarelyLoaded";
variable = (YoBoolean) registry.getVariable(name);
variable.set(true);

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

YoFrameVector translationPhase = new YoFrameVector(robotSide.getLowerCaseName() + "TranslationPhase", null, registry);
YoFrameVector rotationPhaseEuler = new YoFrameVector(robotSide.getLowerCaseName() + "RotationPhase", null, registry);

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

YoFrameVector3D translationPhase = new YoFrameVector3D(robotSide.getLowerCaseName() + "TranslationPhase", null, registry);
YoFrameVector3D rotationPhaseEuler = new YoFrameVector3D(robotSide.getLowerCaseName() + "RotationPhase", null, registry);

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

public SingleFootstepVisualizer(RobotSide robotSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 Integer index = indices.get(robotSide);
 String namePrefix = robotSide.getLowerCaseName() + "Foot" + index;
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix);
 this.robotSide = robotSide;
 ArrayList<Point2d> polyPoints = new ArrayList<Point2d>();
 yoContactPoints = new YoFramePoint[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint(namePrefix + "ContactPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   yoContactPoints[i].set(0.0, 0.0, -1.0);
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, yoContactPoints[i], 0.01, YoAppearance.Blue());
   yoGraphicsList.add(baseControlPointViz);
   polyPoints.add(new Point2d());
 }
 footPolygon = new YoFrameConvexPolygon2d(namePrefix + "yoPolygon", "", ReferenceFrame.getWorldFrame(), maxContactPoints, registry);
 footPolygon.setConvexPolygon2d(new ConvexPolygon2d(polyPoints));
 soleFramePose = new YoFramePose(namePrefix + "polygonPose", "", ReferenceFrame.getWorldFrame(), registry);
 soleFramePose.setXYZ(0.0, 0.0, -1.0);
 footPolygonViz = new YoGraphicPolygon(namePrefix + "graphicPolygon", footPolygon, soleFramePose, 1.0, footPolygonAppearances.get(robotSide));
 yoGraphicsList.add(footPolygonViz);
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
   yoGraphicsListRegistry.registerGraphicsUpdatableToUpdateInAPlaybackListener(footPolygonViz);
 }
 index++;
 indices.set(robotSide, index);
}

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

public FlamingoStanceState(RobotSide supportSide, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController,
   HighLevelControlManagerFactory managerFactory, WalkingFailureDetectionControlModule failureDetectionControlModule, YoVariableRegistry parentRegistry)
{
 super(supportSide, WalkingStateEnum.getFlamingoSingleSupportState(supportSide), walkingMessageHandler, momentumBasedController, managerFactory,
    parentRegistry);
 bipedSupportPolygons = momentumBasedController.getBipedSupportPolygons();
 this.failureDetectionControlModule = failureDetectionControlModule;
 comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager();
 pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager();
 feetManager = managerFactory.getOrCreateFeetManager();
 String namePrefix = supportSide.getOppositeSide().getLowerCaseName();
 loadFoot = new BooleanYoVariable(namePrefix + "LoadFoot", registry);
 loadFootStartTime = new DoubleYoVariable(namePrefix + "LoadFootStartTime", registry);
 loadFootDuration = new DoubleYoVariable(namePrefix + "LoadFootDuration", registry);
 loadFootTransferDuration = new DoubleYoVariable(namePrefix + "LoadFootTransferDuration", registry);
 loadFoot.set(false);
 loadFootDuration.set(1.2);
 loadFootTransferDuration.set(0.8);
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-robotics

public SingleFootstepVisualizer(RobotSide robotSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 Integer index = indices.get(robotSide);
 String namePrefix = robotSide.getLowerCaseName() + "Foot" + index;
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix);
 this.robotSide = robotSide;
 ArrayList<Point2D> polyPoints = new ArrayList<Point2D>();
 yoContactPoints = new YoFramePoint3D[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint3D(namePrefix + "ContactPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   yoContactPoints[i].set(0.0, 0.0, -1.0);
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, yoContactPoints[i], 0.01, YoAppearance.Blue());
   yoGraphicsList.add(baseControlPointViz);
   polyPoints.add(new Point2D());
 }
 footPolygon = new YoFrameConvexPolygon2D(namePrefix + "yoPolygon", "", ReferenceFrame.getWorldFrame(), maxContactPoints, registry);
 footPolygon.set(new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(polyPoints)));
 soleFramePose = new YoFramePoseUsingYawPitchRoll(namePrefix + "polygonPose", "", ReferenceFrame.getWorldFrame(), registry);
 soleFramePose.setXYZ(0.0, 0.0, -1.0);
 footPolygonViz = new YoGraphicPolygon(namePrefix + "graphicPolygon", footPolygon, soleFramePose, 1.0, footPolygonAppearances.get(robotSide));
 yoGraphicsList.add(footPolygonViz);
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
   yoGraphicsListRegistry.registerGraphicsUpdatableToUpdateInAPlaybackListener(footPolygonViz);
 }
 index++;
 indices.set(robotSide, index);
}

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

public SlipOnNextStepPerturber(HumanoidFloatingRootJointRobot robot, RobotSide robotSide)
{
 super(robotSide.getCamelCaseNameForStartOfExpression() + "SlipOnEachStepPerturber");
 String sideString = robotSide.getCamelCaseNameForStartOfExpression();
 this.robot = robot;
 this.touchdownTimeForSlip = new YoDouble(sideString + "TouchdownTimeForSlip", registry);
 this.slipAfterTimeDelta = new YoDouble(sideString + "SlipAfterTimeDelta", registry);
 this.slipNextStep = new YoBoolean(sideString + "SlipNextStep", registry);
 amountToSlipNextStep = new YoFrameVector3D(sideString + "AmountToSlipNextStep", ReferenceFrame.getWorldFrame(), registry);
 rotationToSlipNextStep = new YoFrameYawPitchRoll(sideString + "RotationToSlipNextStep", ReferenceFrame.getWorldFrame(), registry);
 slipState = new YoEnum<SlipState>(sideString + "SlipState", registry, SlipState.class);
 slipState.set(SlipState.NOT_SLIPPING);
 groundContactPoints = robot.getFootGroundContactPoints(robotSide);
 
 groundContactPointsSlipper = new GroundContactPointsSlipper(robotSide.getLowerCaseName());
 groundContactPointsSlipper.addGroundContactPoints(groundContactPoints);
 groundContactPointsSlipper.setPercentToSlipPerTick(0.05);
 this.addRobotController(groundContactPointsSlipper);
}

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

GroundContactPointsSlipper groundContactPointsSlipper = new GroundContactPointsSlipper(robotSide.getLowerCaseName());
groundContactPointsSlippers.put(robotSide, groundContactPointsSlipper);
this.addRobotController(groundContactPointsSlipper);

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

assertEquals("Left", leftRobotSide.getCamelCaseNameForMiddleOfExpression());
assertEquals("right", rightRobotSide.getLowerCaseName());
assertEquals("left", leftRobotSide.getLowerCaseName());

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