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

RobotSide.generateRandomRobotSide介绍

暂无

代码示例

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

public FootTrajectoryCommand(Random random)
{
 se3Trajectory = new SE3TrajectoryControllerCommand(random);
 robotSide = RobotSide.generateRandomRobotSide(random);
}

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

public ManualHandControlPacket(Random random)
  {
   this.robotSide = RobotSide.generateRandomRobotSide(random);
   double[] angles = RandomTools.generateRandomDoubleArray(random, 4, 0, 1);

   this.index = angles[0];
   this.middle = angles[1];
   this.thumb = angles[2];
   this.spread = angles[3];
   this.controlType = 0;

  }
}

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

public HandTrajectoryCommand(Random random)
{
 se3Trajectory = new SE3TrajectoryControllerCommand(random);
 wrenchTrajectory = new WrenchTrajectoryControllerCommand(random);
 robotSide = RobotSide.generateRandomRobotSide(random);
}

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

public GraspCylinderPacket(Random random)
{
 robotSide = RobotSide.generateRandomRobotSide(random);
 graspPointInWorld = RandomTools.generateRandomPoint(random, -10.0, -10.0, -10.0, 10.0, 10.0, 10.0);
 cylinderLongAxisInWorld = RandomTools.generateRandomVector(random);
}

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

public HandHybridJointspaceTaskspaceTrajectoryCommand(Random random)
{
 this(RobotSide.generateRandomRobotSide(random), new SE3TrajectoryControllerCommand(random), new JointspaceTrajectoryCommand(random));
}

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

public HandstepPacket(Random random)
  {
   double TRAJECTORY_TIME_MIN = 0.5;
   double TRAJECTORY_TIME_MAX = 10;

   this.robotSide = RobotSide.generateRandomRobotSide(random);
   this.location = RandomTools.generateRandomPoint(random, 0.5, 0.5, 0.5);
   this.orientation = RandomTools.generateRandomQuaternion(random, Math.PI / 4.0);
   this.surfaceNormal = RandomTools.generateRandomVector(random, 1.0);
   this.swingTrajectoryTime = RandomTools.generateRandomDouble(random, TRAJECTORY_TIME_MIN, TRAJECTORY_TIME_MAX);
  }
}

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

public static FootstepNode generateRandomFootstepNode(Random random, double minMaxXY)
{
 return new FootstepNode(EuclidCoreRandomTools.nextDouble(random, minMaxXY), EuclidCoreRandomTools.nextDouble(random, minMaxXY),
             EuclidCoreRandomTools.nextDouble(random, Math.PI), RobotSide.generateRandomRobotSide(random));
}

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

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testWithoutPlanarRegions()
{
 TestSnapper testSnapper = new TestSnapper();
 for (int i = 0; i < xIndices.length; i++)
 {
   for (int j = 0; j < yIndices.length; j++)
   {
    for (int k = 0; k < yawIndices.length; k++)
    {
      RobotSide robotSide = RobotSide.generateRandomRobotSide(random);
      FootstepNodeSnapData snapData = testSnapper.snapFootstepNode(new FootstepNode(xIndices[i], yIndices[j], yawIndices[k], robotSide));
      assertTrue(!testSnapper.dirtyBit);
      assertTrue(snapData.getSnapTransform().epsilonEquals(new RigidBodyTransform(), epsilon));
      assertTrue(snapData.getCroppedFoothold().isEmpty());
    }
   }
 }
}

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

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetNodeTransform()
{
 int numTests = 1000;
 for (int i = 0; i < numTests; i++)
 {
   int xLatticeIndex = random.nextInt(1000) - 500;
   int yLatticeIndex = random.nextInt(1000) - 500;
   int yawLatticeIndex = random.nextInt(100) - 50;
   double x = xLatticeIndex * FootstepNode.gridSizeXY;
   double y = yLatticeIndex * FootstepNode.gridSizeXY;
   double yaw = AngleTools.trimAngleMinusPiToPi(yawLatticeIndex * FootstepNode.gridSizeYaw);
   RobotSide robotSide = RobotSide.generateRandomRobotSide(random);
   checkNodeTransform(x, y, yaw, robotSide, 0.0, 0.0, 0.0);
   checkNodeTransform(x, y, yaw, robotSide, 0.4995 * FootstepNode.gridSizeXY, 0.0, 0.0);
   checkNodeTransform(x, y, yaw, robotSide, -0.4995 * FootstepNode.gridSizeXY, 0.0, 0.0);
   checkNodeTransform(x, y, yaw, robotSide, 0.0, 0.4995 * FootstepNode.gridSizeXY, 0.0);
   checkNodeTransform(x, y, yaw, robotSide, 0.0, -0.4995 * FootstepNode.gridSizeXY, 0.0);
   checkNodeTransform(x, y, yaw, robotSide, 0.0, 0.0, 0.4995 * FootstepNode.gridSizeYaw);
   checkNodeTransform(x, y, yaw, robotSide, 0.0, 0.0, -0.4995 * FootstepNode.gridSizeYaw);
 }
}

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

public static FootLoadBearingMessage nextFootLoadBearingMessage(Random random)
{
 FootLoadBearingMessage next = new FootLoadBearingMessage();
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 next.setExecutionDelayTime(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setLoadBearingRequest(RandomNumbers.nextEnum(random, LoadBearingRequest.class).toByte());
 return next;
}

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

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testFootstepCacheing()
{
 TestSnapper testSnapper = new TestSnapper();
 PlanarRegionsList planarRegionsList = new PlanarRegionsList(new PlanarRegion());
 testSnapper.setPlanarRegions(planarRegionsList);
 for (int i = 0; i < xIndices.length; i++)
 {
   for (int j = 0; j < yIndices.length; j++)
   {
    for (int k = 0; k < yawIndices.length; k++)
    {
      RobotSide robotSide = RobotSide.generateRandomRobotSide(random);
      testSnapper.snapFootstepNode(new FootstepNode(xIndices[i], yIndices[j], yawIndices[k], robotSide));
      assertTrue(testSnapper.dirtyBit);
      testSnapper.dirtyBit = false;
      testSnapper.snapFootstepNode(new FootstepNode(xIndices[i], yIndices[j], yawIndices[k], robotSide));
      assertTrue(!testSnapper.dirtyBit);
    }
   }
 }
}

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

public static HandLoadBearingMessage nextHandLoadBearingMessage(Random random)
{
 HandLoadBearingMessage next = new HandLoadBearingMessage();
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 next.setUseJointspaceCommand(random.nextBoolean());
 next.getJointspaceTrajectory().set(nextJointspaceTrajectoryMessage(random));
 next.setExecutionDelayTime(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.getLoadBearingMessage().set(nextLoadBearingMessage(random));
 return next;
}

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

@ContinuousIntegrationTest(estimatedDuration = 2.0)
  @Test(timeout = 30000)
  public void testRandomPoses()
  {
   boolean assertPlannerReturnedResult = assertPlannerReturnedResult();

   double xGoal = random.nextDouble();
   double yGoal = random.nextDouble();
   double yawGoal = 0.0;
   Point2D goalPosition = new Point2D(xGoal, yGoal);
   FramePose2D goalPose = new FramePose2D(ReferenceFrame.getWorldFrame(), goalPosition, yawGoal);

   double xInitialStanceFoot = random.nextDouble();
   double yInitialStanceFoot = random.nextDouble();
   double yawInitial = 0.0;
   Point2D initialStanceFootPosition = new Point2D(xInitialStanceFoot, yInitialStanceFoot);
   FramePose2D initialStanceFootPose = new FramePose2D(ReferenceFrame.getWorldFrame(), initialStanceFootPosition, yawInitial);
   RobotSide initialStanceFootSide = RobotSide.generateRandomRobotSide(random);

   FramePose3D initialStanceFootPose3d = FlatGroundPlanningUtils.poseFormPose2d(initialStanceFootPose);
   FramePose3D goalPose3d = FlatGroundPlanningUtils.poseFormPose2d(goalPose);
   FootstepPlan footstepPlan =
      PlannerTools.runPlanner(getPlanner(), initialStanceFootPose3d, initialStanceFootSide, goalPose3d, null, assertPlannerReturnedResult);

   if (visualize())
     PlanningTestTools.visualizeAndSleep(null, footstepPlan, goalPose3d);
   if (assertPlannerReturnedResult) assertTrue(PlannerTools.isGoalNextToLastStep(goalPose3d, footstepPlan));
  }
}

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

public static ManualHandControlPacket nextManualHandControlPacket(Random random)
{
 ManualHandControlPacket next = new ManualHandControlPacket();
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 double[] angles = RandomNumbers.nextDoubleArray(random, 4, 0, 1);
 next.setIndex(angles[0]);
 next.setMiddle(angles[1]);
 next.setThumb(angles[2]);
 next.setSpread(angles[3]);
 next.setControlType(0);
 return next;
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testEqualsAndHashMethodsWithRandomTransforms()
{
 Random random = new Random(3823L);
 int numTrials = 100;
 FootstepNode nodeA, nodeB;
 for (int i = 0; i < numTrials; i++)
 {
   RobotSide robotSide = RobotSide.generateRandomRobotSide(random);
   // test for exact same transform
   double x = EuclidCoreRandomTools.nextDouble(random, 1.0);
   double y = EuclidCoreRandomTools.nextDouble(random, 1.0);
   double yaw = EuclidCoreRandomTools.nextDouble(random, 1.0);
   nodeA = new FootstepNode(x, y, yaw, robotSide);
   nodeB = new FootstepNode(x, y, yaw, robotSide);
   assertTrue(nodeA.equals(nodeB));
   assertTrue(nodeA.hashCode() == nodeB.hashCode());
 }
}

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

private static FootstepDataMessage nextFootstepDataMessage(Random random)
{
 FootstepDataMessage next = new FootstepDataMessage();
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 next.getLocation().set(EuclidCoreRandomTools.nextPoint3D(random));
 next.getOrientation().set(EuclidCoreRandomTools.nextQuaternion(random));
 IntStream.range(0, random.nextInt(10)).forEach(i -> next.getPredictedContactPoints2d().add().set(EuclidCoreRandomTools.nextPoint2D(random)));
 next.setTrajectoryType(RandomNumbers.nextEnum(random, TrajectoryType.class).toByte());
 next.setSwingHeight(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setSwingTrajectoryBlendDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setSwingDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setTransferDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setTouchdownDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setExecutionDelayTime(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 return next;
}

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

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void testGetSnappedNodeTransform()
  {
   int numTests = 10;

   for (int i = 0; i < numTests; i++)
   {
     double x = EuclidCoreRandomTools.nextDouble(random, 1.0);
     double y = EuclidCoreRandomTools.nextDouble(random, 1.0);
     double yaw = EuclidCoreRandomTools.nextDouble(random, 4.0);
     RobotSide robotSide = RobotSide.generateRandomRobotSide(random);

     FootstepNode node = new FootstepNode(x, y, yaw, robotSide);
     RigidBodyTransform snapTransform = EuclidCoreRandomTools.nextRigidBodyTransform(random);
     RigidBodyTransform snappedNodeTransform = new RigidBodyTransform();
     FootstepNodeTools.getSnappedNodeTransform(node, snapTransform, snappedNodeTransform);

     RigidBodyTransform expectedSnappedNodeTransform = new RigidBodyTransform();
     FootstepNodeTools.getNodeTransform(node, expectedSnappedNodeTransform);
     snapTransform.transform(expectedSnappedNodeTransform);

     assertTrue(expectedSnappedNodeTransform.epsilonEquals(snappedNodeTransform, epsilon));
   }
  }
}

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

public static FootstepStatusMessage nextFootstepStatusMessage(Random random)
{
 FootstepStatusMessage next = new FootstepStatusMessage();
 next.setFootstepStatus(RandomNumbers.nextEnum(random, FootstepStatus.class).toByte());
 next.setFootstepIndex(RandomNumbers.nextIntWithEdgeCases(random, 0.1));
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 next.getDesiredFootPositionInWorld().set(RandomGeometry.nextPoint3D(random, 1.0, 1.0, 1.0));
 next.getDesiredFootOrientationInWorld().set(RandomGeometry.nextQuaternion(random));
 next.getActualFootPositionInWorld().set(RandomGeometry.nextPoint3D(random, 1.0, 1.0, 1.0));
 next.getActualFootOrientationInWorld().set(RandomGeometry.nextQuaternion(random));
 return next;
}

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

public static FootstepDataMessage nextFootstepDataMessage(Random random)
{
 FootstepDataMessage next = new FootstepDataMessage();
 next.setRobotSide(RobotSide.generateRandomRobotSide(random).toByte());
 next.getLocation().set(EuclidCoreRandomTools.nextPoint3D(random));
 next.getOrientation().set(EuclidCoreRandomTools.nextQuaternion(random));
 IntStream.range(0, random.nextInt(10)).forEach(i -> next.getPredictedContactPoints2d().add().set(EuclidCoreRandomTools.nextPoint2D(random)));
 next.setTrajectoryType(RandomNumbers.nextEnum(random, TrajectoryType.class).toByte());
 next.setSwingHeight(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 if (next.getTrajectoryType() == TrajectoryType.CUSTOM.toByte())
 {
   next.getCustomPositionWaypoints().add().set(RandomGeometry.nextPoint3D(random, -10.0, 10.0));
   next.getCustomPositionWaypoints().add().set(RandomGeometry.nextPoint3D(random, -10.0, 10.0));
 }
 else if (next.getTrajectoryType() == TrajectoryType.WAYPOINTS.toByte())
 {
   MessageTools.copyData(nextSE3TrajectoryPointMessages(random), next.getSwingTrajectory());
 }
 next.setSwingTrajectoryBlendDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setSwingDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setTransferDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setTouchdownDuration(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 next.setExecutionDelayTime(RandomNumbers.nextDoubleWithEdgeCases(random, 0.1));
 return next;
}

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

RobotSide robotSide = RobotSide.generateRandomRobotSide(random);

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