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

SimulationConstructionSet.getRootRegistry介绍

暂无

代码示例

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

public YoVariableRegistry getYoVariableRegistry()
{
 return scs.getRootRegistry();
}

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

public void addChildRegistry(YoVariableRegistry childRegistry)
{
 scs.getRootRegistry().addChild(childRegistry);
}

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

private YoDouble[] addDoubleYoVariablesInSCSRegistry(String[] varNames, double[] varValues, SimulationConstructionSet scs)
{
 YoDouble[] yoDoubles = null;
 if (varNames.length == varValues.length)
 {
   YoVariableRegistry scsRegistry = scs.getRootRegistry();
   yoDoubles = createAndSetDoubleYoVariableToRegistry(varNames, varValues, scsRegistry);
 }
 else
 {
   System.out.print("Input arrays have different length.");
 }
 return yoDoubles;
}

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

private void printOutYoVariableNames()
{
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 ArrayList<YoVariable<?>> allVariablesIncludingDescendants = rootRegistry.getAllVariablesIncludingDescendants();
 for (YoVariable<?> yoVariable : allVariablesIncludingDescendants)
 {
   System.out.println(yoVariable.getName());
 }
}

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

private void printOutYoVariableNames()
{
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 ArrayList<YoVariable<?>> allVariablesIncludingDescendants = rootRegistry.getAllVariablesIncludingDescendants();
 for (YoVariable<?> yoVariable : allVariablesIncludingDescendants)
 {
   System.out.println(yoVariable.getName());
 }
}

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

private void printOutYoVariableNames()
{
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 ArrayList<YoVariable<?>> allVariablesIncludingDescendants = rootRegistry.getAllVariablesIncludingDescendants();
 for (YoVariable<?> yoVariable : allVariablesIncludingDescendants)
 {
   System.out.println(yoVariable.getName());
 }
}

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

public void addLogPlaybackListener(YoVariableLogPlaybackListener listener)
{
 listener.setYoVariableRegistry(scs.getRootRegistry());
 robot.addLogPlaybackListener(listener);
}

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

private void assertSCSContainsTheVariables(SimulationConstructionSet scs, String[] variablesNames)
{
 YoVariableRegistry registry = scs.getRootRegistry();
 String[] variableNamesFromSCS = getAllVariableNamesFromRegistry(registry);
 assertArrayOfStringsContainsTheStrings(variableNamesFromSCS, variablesNames);
}

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

public void addLogPlaybackListener(YoVariableLogPlaybackListener listener)
{
 listener.setYoVariableRegistry(scs.getRootRegistry());
 robot.addLogPlaybackListener(listener);
}

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

public void addLogPlaybackListener(YoVariableLogPlaybackListener listener)
{
 listener.setYoVariableRegistry(scs.getRootRegistry());
 robot.addLogPlaybackListener(listener);
}

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

public void startOnAThread(int port)
{
 final SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("NullRobotMachineSide"));
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 rootRegistry.addChild(coactiveElement.getMachineWritableYoVariableRegistry());
 rootRegistry.addChild(coactiveElement.getUserInterfaceWritableYoVariableRegistry());
 scs.startOnAThread();
 
 coactiveElement.initializeMachineSide();
 CoactiveElementYoWhiteBoardSynchronizer machineSideSynchronizer = new CoactiveElementYoWhiteBoardSynchronizer(port, HumanOrMachine.MACHINE, coactiveElement);
 final long millisecondsBetweenDataWrites = 300L;
 machineSideSynchronizer.startASynchronizerOnAThread(millisecondsBetweenDataWrites);
 Runnable runnable = new Runnable()
 {
   @Override
   public void run()
   {   
    while (true)
    {
      coactiveElement.updateMachineSide();
      scs.tickAndUpdate();
      sleep(millisecondsBetweenDataWrites);       
    }
   }
 };
 Thread thread = new Thread(runnable);
 thread.start();
}

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

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform, false, true, true);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

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/ihmc-avatar-interfaces

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/valkyrie

public ValkyrieDataFileNamespaceRenamer()
{
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("null"));
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 
 NameSpaceRenamer valkyrieNameSpaceRenamer = new ValkyrieNameSpaceRenamer();
 ChangeNamespacesToMatchSimButton changeNamespacesToMatchSimButton = new ChangeNamespacesToMatchSimButton("ChangeValkyrieNamespaces", rootRegistry, valkyrieNameSpaceRenamer);
 scs.addButton(changeNamespacesToMatchSimButton);
 
 NameSpaceRenamer stepprNameSpaceRenamer = new StepprNameSpaceRenamer();
 ChangeNamespacesToMatchSimButton changeStepprNamespacesToMatchSimButton = new ChangeNamespacesToMatchSimButton("ChangeStepprNamespaces", rootRegistry, stepprNameSpaceRenamer);
 scs.addButton(changeStepprNamespacesToMatchSimButton);
 
 scs.startOnAThread();
}

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

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform, false, true, true);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

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

private void initializeCollisionManager()
{
 if (useShapeCollision)
 {
   double coefficientOfRestitution = 0.0;
   double coefficientOfFriction = 0.9;
   HybridImpulseSpringDamperCollisionHandler collisionHandler = new HybridImpulseSpringDamperCollisionHandler(coefficientOfRestitution,
                                                        coefficientOfFriction,
                                                        simulationConstructionSet.getRootRegistry(),
                                                        new YoGraphicsListRegistry());
   collisionHandler.setKp(100000);
   collisionHandler.setKd(500);
   CollisionManager collisionManager = new CollisionManager(commonAvatarEnvironment.get().getTerrainObject3D(), collisionHandler);
   simulationConstructionSet.initializeShapeCollision(collisionManager);
 }
}

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

scs1.getRootRegistry().addChild(rootRegistry1);
scs2.getRootRegistry().addChild(rootRegistry2);

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

@ContinuousIntegrationTest(estimatedDuration = 0.4)
  @Test(timeout = 30000)
  public void testWithHighEpsilon()
  {
    AllYoVariablesSimulationComparer comparerWithLargeEpsilon = new AllYoVariablesSimulationComparer(5.0);

    SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
    parameters.setCreateGUI(false);

    SimulationConstructionSet scs1 = new SimulationConstructionSet(robot1, parameters);
    SimulationConstructionSet scs2 = new SimulationConstructionSet(robot2, parameters);
    scs1.getRootRegistry().addChild(rootRegistry1);
    scs2.getRootRegistry().addChild(rootRegistry2);
    
    yoDouble1.set(98.56);
    yoDouble2.set(97.01);
    yoDouble3.set(94.98);
    yoDouble4.set(92.02);
    assertFalse(comparerWithLargeEpsilon.compare(scs1, scs2));
    comparerWithLargeEpsilon.addException("yoDoubleA12");
    comparerWithLargeEpsilon.addException("Ignore");
    assertTrue(comparerWithLargeEpsilon.compare(scs1, scs2));

    yoDouble1.set(97.02);
    yoDouble2.set(95.01);
    yoDouble3.set(9);
    yoDouble4.set(92.02);
    assertFalse(comparerWithLargeEpsilon.compare(scs1, scs2));
  }
}

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

scs.startOnAThread();
YoVariableRegistry rootRegistry = scs.getRootRegistry();
DataBuffer dataBuffer = scs.getDataBuffer();

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