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

SimulationConstructionSet.getVariable介绍

暂无

代码示例

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

public YoVariable<?> getYoVariable(String name)
{
 return scs.getVariable(name);
}

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

private static <T extends YoVariable<T>> T getYoVariable(SimulationConstructionSet scs, String name, String namespace, Class<T> clazz)
{
 YoVariable<?> uncheckedVariable = scs.getVariable(namespace, name);
 if (uncheckedVariable == null)
   throw new RuntimeException("Could not find yo variable: " + namespace + "/" + name + ".");
 if (!clazz.isInstance(uncheckedVariable))
   throw new RuntimeException("YoVariable " + name + " is not of type " + clazz.getSimpleName());
 return clazz.cast(uncheckedVariable);
}

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

private static <T extends YoVariable<T>> T getYoVariable(SimulationConstructionSet scs, String name, String namespace, Class<T> clazz)
{
 YoVariable<?> uncheckedVariable = scs.getVariable(namespace, name);
 if (uncheckedVariable == null)
   throw new RuntimeException("Could not find yo variable: " + namespace + "/" + name + ".");
 if (!clazz.isInstance(uncheckedVariable))
   throw new RuntimeException("YoVariable " + name + " is not of type " + clazz.getSimpleName());
 return clazz.cast(uncheckedVariable);
}

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

@SuppressWarnings("unchecked")
public RigidBodyControlMode findControllerState(SimulationConstructionSet scs)
{
 String namespace = "utorsoManager";
 String state = namespace + "State";
 return ((YoEnum<RigidBodyControlMode>) scs.getVariable(namespace, state)).getEnumValue();
}

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

@SuppressWarnings("unchecked")
public static RigidBodyControlMode findControllerState(String bodyName, SimulationConstructionSet scs)
{
 String managerName = bodyName + "Manager";
 return ((YoEnum<RigidBodyControlMode>) scs.getVariable(managerName, managerName + "CurrentState")).getEnumValue();
}

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

public CutBufferToDiagnosticsStateButton(SimulationConstructionSet simulationConstructionSet)
{
  super("Cut Buffer");
  this.simulationConstructionSet = simulationConstructionSet;
  diagnosticsState = (YoEnum<DiagnosticsWhenHangingState>) simulationConstructionSet.getVariable("DiagnosticsState");
  this.addActionListener(this);
}

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

@SuppressWarnings("unchecked")
private static RobotSide findUpcomingFootstepSide(int index, SimulationConstructionSet scs)
{
 return ((YoEnum<RobotSide>)scs.getVariable(WalkingMessageHandler.class.getSimpleName(), "upcomingFoostepSide" + index)).getEnumValue();
}

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

public YoFramePoint findYoFramePoint(String pointPrefix, String pointSuffix, ReferenceFrame pointFrame)
{
 DoubleYoVariable x = (DoubleYoVariable) scs.getVariable(createXName(pointPrefix, pointSuffix));
 DoubleYoVariable y = (DoubleYoVariable) scs.getVariable(createYName(pointPrefix, pointSuffix));
 DoubleYoVariable z = (DoubleYoVariable) scs.getVariable(createZName(pointPrefix, pointSuffix));
 if (x == null || y == null || z == null)
   return null;
 else
   return new YoFramePoint(x, y, z, pointFrame);
}

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

public YoFrameVector findYoFrameVector(String vectorPrefix, String vectorSuffix, ReferenceFrame vectorFrame)
{
 DoubleYoVariable x = (DoubleYoVariable) scs.getVariable(createXName(vectorPrefix, vectorSuffix));
 DoubleYoVariable y = (DoubleYoVariable) scs.getVariable(createYName(vectorPrefix, vectorSuffix));
 DoubleYoVariable z = (DoubleYoVariable) scs.getVariable(createZName(vectorPrefix, vectorSuffix));
 if (x == null || y == null || z == null)
   return null;
 else
   return new YoFrameVector(x, y, z, vectorFrame);
}

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/ihmc-avatar-interfaces-test

private static YoFramePose3D findYoFramePose3D(String nameSpace, String namePrefix, String nameSuffix, SimulationConstructionSet scs)
{
 YoDouble x = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createXName(namePrefix, nameSuffix));
 YoDouble y = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createYName(namePrefix, nameSuffix));
 YoDouble z = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createZName(namePrefix, nameSuffix));
 YoFramePoint3D position = new YoFramePoint3D(x, y, z, ReferenceFrame.getWorldFrame());
 YoDouble qx = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQxName(namePrefix, nameSuffix));
 YoDouble qy = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQyName(namePrefix, nameSuffix));
 YoDouble qz = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQzName(namePrefix, nameSuffix));
 YoDouble qs = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQsName(namePrefix, nameSuffix));
 YoFrameQuaternion orientation = new YoFrameQuaternion(qx, qy, qz, qs, ReferenceFrame.getWorldFrame());
 return new YoFramePose3D(position, orientation);
}

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

public static int findControllerNumberOfWaypointsInGenerator(SimulationConstructionSet scs, RigidBodyBasics body, String prefix)
{
 String bodyName = body.getName();
 int numberOfWaypoints = ((YoInteger) scs.getVariable(bodyName + "TaskspaceControlModule", bodyName + prefix + "TaskspaceNumberOfPointsInGenerator")).getIntegerValue();
 return numberOfWaypoints;
}

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

public static double[] findControllerDesiredJointAccelerations(String bodyName, RobotSide robotSide, OneDoFJointBasics[] armJoints, SimulationConstructionSet scs)
{
 double[] qdd_ds = new double[armJoints.length];
 String nameSpace = bodyName + "UserControlModule";
 for (int i = 0; i < armJoints.length; i++)
 {
   String variable = bodyName + "UserMode_" + armJoints[i].getName() + "_qdd_d";
   qdd_ds[i] = scs.getVariable(nameSpace, variable).getValueAsDouble();
 }
 return qdd_ds;
}

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

public double[] findControllerDesiredJointAccelerations(OneDoFJointBasics[] joints, SimulationConstructionSet scs)
{
 double[] qdd_ds = new double[joints.length];
 String prefix = "utorsoUserMode";
 for (int i = 0; i < joints.length; i++)
 {
   String name = prefix + "_" + joints[i].getName() + "_qdd_d";
   qdd_ds[i] = scs.getVariable(name).getValueAsDouble();
 }
 return qdd_ds;
}

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

public static Quaternion findQuat4d(String nameSpace, String prefix, String suffix, SimulationConstructionSet scs)
{
 double x = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQxName(prefix, suffix)).getValueAsDouble();
 double y = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQyName(prefix, suffix)).getValueAsDouble();
 double z = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQzName(prefix, suffix)).getValueAsDouble();
 double s = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQsName(prefix, suffix)).getValueAsDouble();
 return new Quaternion(x, y, z, s);
}

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

private void assertWeightsMatch(double xWeight, double yWeight, double zWeight, RigidBodyBasics rigidBody, SimulationConstructionSet scs)
{
 String prefix = rigidBody.getName() + "TaskspaceOrientation";
 YoDouble angularWeightX = (YoDouble) scs.getVariable(prefix + "CurrentWeightX");
 YoDouble angularWeightY = (YoDouble) scs.getVariable(prefix + "CurrentWeightY");
 YoDouble angularWeightZ = (YoDouble) scs.getVariable(prefix + "CurrentWeightZ");
 assertEquals(xWeight, angularWeightX.getDoubleValue(), 1e-8);
 assertEquals(yWeight, angularWeightY.getDoubleValue(), 1e-8);
 assertEquals(zWeight, angularWeightZ.getDoubleValue(), 1e-8);
}

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

public static Tuple3DBasics findTuple3d(String nameSpace, String prefix, String suffix, SimulationConstructionSet scs)
{
 Tuple3DBasics tuple3d = new Point3D();
 tuple3d.setX(scs.getVariable(nameSpace, YoFrameVariableNameTools.createXName(prefix, suffix)).getValueAsDouble());
 tuple3d.setY(scs.getVariable(nameSpace, YoFrameVariableNameTools.createYName(prefix, suffix)).getValueAsDouble());
 tuple3d.setZ(scs.getVariable(nameSpace, YoFrameVariableNameTools.createZName(prefix, suffix)).getValueAsDouble());
 return tuple3d;
}

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

public static Tuple2DBasics findTuple2d(String nameSpace, String prefix, String suffix, SimulationConstructionSet scs)
{
 Tuple2DBasics tuple2d = new Point2D();
 tuple2d.setX(scs.getVariable(nameSpace, YoFrameVariableNameTools.createXName(prefix, suffix)).getValueAsDouble());
 tuple2d.setY(scs.getVariable(nameSpace, YoFrameVariableNameTools.createYName(prefix, suffix)).getValueAsDouble());
 return tuple2d;
}

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

private YoDouble getPelvisOrientationErrorVariableName(SimulationConstructionSet scs, FullHumanoidRobotModel fullRobotModel)
  {
   String pelvisName = fullRobotModel.getPelvis().getName();
   String namePrefix = pelvisName + FeedbackControllerDataReadOnly.Type.ERROR.getName() + FeedbackControllerDataReadOnly.Space.ROTATION_VECTOR.getName();
   String varName = YoFrameVariableNameTools.createZName(namePrefix, "");
   return (YoDouble) scs.getVariable(FeedbackControllerToolbox.class.getSimpleName(), varName);
  }
}

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

public static SimpleSO3TrajectoryPoint findOrientationTrajectoryPoint(String bodyName, int index, SimulationConstructionSet scs)
{
 String orientationTrajectoryName = bodyName + MultipleWaypointsOrientationTrajectoryGenerator.class.getSimpleName();
 String suffix = "AtWaypoint" + index;
 String timeName = bodyName + "Time";
 String orientationName = bodyName + "Orientation";
 String angularVelocityName = bodyName + "AngularVelocity";
 SimpleSO3TrajectoryPoint simpleSO3TrajectoryPoint = new SimpleSO3TrajectoryPoint();
 simpleSO3TrajectoryPoint.setTime(scs.getVariable(orientationTrajectoryName, timeName + suffix).getValueAsDouble());
 simpleSO3TrajectoryPoint.setOrientation(findQuat4d(orientationTrajectoryName, orientationName, suffix, scs));
 simpleSO3TrajectoryPoint.setAngularVelocity(findVector3d(orientationTrajectoryName, angularVelocityName, suffix, scs));
 return simpleSO3TrajectoryPoint;
}

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