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

SimulationConstructionSet.simulate介绍

暂无

代码示例

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

public void simulate()
{
 simulationConstructionSet.simulate();
}

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

private void simulate(ArrayList<SimulationConstructionSet> simulationConstructionSets, double simulationTime)
{
 for (SimulationConstructionSet scs : simulationConstructionSets)
 {
   scs.simulate(simulationTime);
 }
}

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

public void simulate()
{
 scs.simulate();
}

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

public void simulate()
{
 simulationConstructionSet.simulate();
}

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

public static SimulationConstructionSet runNumberOfTicks(SimulationConstructionSet scs, int nTicks)
  {
   scs.simulate(nTicks);
   waitForSimulationToFinish(scs);
//      System.out.println("Simulation run for " + nTicks + " ticks");

   return scs;
  }

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

@Override
public void doInitialAction(SimulationConstructionSet scs0, SimulationConstructionSet scs1)
{
 SimulationConstructionSet[] scss = {scs0, scs1};
 for (SimulationConstructionSet scs : scss)
 {
   scs.simulate(nTicksInitial);
 }
 for (SimulationConstructionSet scs : scss)
 {
   waitForSimulationToFinish(scs);
 }
}

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

private void simulateForTime(SimulationConstructionSet scs, double simulateTime)
{
 scs.simulate(simulateTime);
 while (scs.isSimulating())
 {
   ThreadTools.sleep(100L);
 }
}

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

@Override
public void doFinalAction(SimulationConstructionSet scs0, SimulationConstructionSet scs1)
{
 SimulationConstructionSet[] scss = {scs0, scs1};
 for (SimulationConstructionSet scs : scss)
 {
   scs.setInPoint();
   scs.simulate(nTicksCompare);
 }
 for (SimulationConstructionSet scs : scss)
 {
   waitForSimulationToFinish(scs);
 }
 File stateFile = new File("stateFile");
 scs0.writeState(stateFile);
 scs0.gotoInPointNow();
 scs0.simulate(1);
 scs0.writeState(stateFile);
 stateFile.delete();
 for (SimulationConstructionSet scs : scss)
 {
   scs.simulate(nTicksFinal);
 }
 for (SimulationConstructionSet scs : scss)
 {
   waitForSimulationToFinish(scs);
 }
}

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

@Override
public void doInitialAction(SimulationConstructionSet scs0, SimulationConstructionSet scs1)
{
 if (scs0.getRecordFreq() != scs1.getRecordFreq())
 {
   throw new RuntimeException("scs0.getRecordFreq() != scs1.getRecordFreq()");
 }
 
 if (nTicksInitial % scs0.getRecordFreq() != 0)
 {
   throw new RuntimeException("nTicksInitial must be divisible by record frequency!");
 }
 
 SimulationConstructionSet[] scss = {scs0, scs1};
 for (SimulationConstructionSet scs : scss)
 {
   scs.simulate(nTicksInitial);
 }
 for (SimulationConstructionSet scs : scss)
 {
   waitForSimulationToFinish(scs);
 }
}

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

public void simulateAndBlock(int simulationTicks) throws SimulationExceededMaximumTimeException, ControllerFailureException
{
 double startTime = scs.getTime();
 scs.simulate(simulationTicks);
 BlockingSimulationRunner.waitForSimulationToFinish(scs, 600, true);
 if (hasControllerFailed.get())
 {
   throw new ControllerFailureException("Controller failure has been detected.");
 }
 double endTime = scs.getTime();
 double elapsedTime = endTime - startTime;
 if (Math.abs(elapsedTime - scs.getDT() * simulationTicks) > 0.01)
 {
   throw new SimulationExceededMaximumTimeException("Elapsed time didn't equal requested. Sim probably crashed");
 }
}

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

scs.simulate();

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

scs0.simulate(nTicksCompare);
waitForSimulationToFinish(scs0);
  scs.simulate(nTicksFinal);
  waitForSimulationToFinish(scs);

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

scs.simulate(2.0);

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

public static void testRewindabilityNumberOfTicks(SimulationConstructionSet scs, int nTicks, List<String> namesToSkipOver)
      throws SimulationExceededMaximumTimeException
  {
   // create state files
   int nStateFiles = 2;
   ArrayList<File> stateFiles = createStateFiles(nStateFiles);

//      System.out.println("Simulation created");

   // run, write state file, rewind, repeat
   for (int i = 0; i < nStateFiles; i++)
   {
     scs.simulate(nTicks);
     BlockingSimulationRunner.waitForSimulationToFinish(scs, 120.0, true);
     scs.writeState(stateFiles.get(i));
//         System.out.println("Run " + i + " done.");
     scs.gotoInPointNow();
     assertEquals(scs.getIndex(), 0);
   }

   compare(stateFiles, scs, namesToSkipOver);
  }

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

/**
  * Simple rewindability test.
  * run, write state file, rewind, run, write state file.
  * @throws SimulationExceededMaximumTimeException
  */
  public static void testRewindabilitySimple(SimulationConstructionSet scs, double simulationTime, ArrayList<String> namesToSkipOver)
      throws SimulationExceededMaximumTimeException
  {
   // create state files
   int nStateFiles = 2;
   ArrayList<File> stateFiles = createStateFiles(nStateFiles);

//      System.out.println("Simulation created");

   // run, write state file, rewind, repeat
   for (int i = 0; i < nStateFiles; i++)
   {
     scs.simulate(simulationTime);
     BlockingSimulationRunner.waitForSimulationToFinish(scs, 120.0, true);
     scs.writeState(stateFiles.get(i));
//         System.out.println("Run " + i + " done.");
     scs.gotoInPointNow();
     assertEquals(scs.getIndex(), 0);
   }

   // compare
   compare(stateFiles, scs, namesToSkipOver);
  }

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

public void runPelvisCorrectionControllerOutOfTheLoop() throws SimulationExceededMaximumTimeException
{
 setupSimulationWithStandingControllerAndCreateExternalPelvisThread();
 setupYoVariables(registry, "PelvisPoseHistoryCorrection");
 setPelvisPoseHistoryCorrectorAlphaBreakFreq(registry, 0.015, 0.015);
 maxTranslationVelocityClip.set(1.0);
 maxRotationVelocityClip.set(1.0);
 activatePelvisPoseHistoryCorrector(registry, true);
 simulationConstructionSet.simulate();
 while (simulationConstructionSet.isSimulationThreadRunning())
 {
   ThreadTools.sleep(100);
 }
}

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

@ContinuousIntegrationTest(estimatedDuration = 7.2)
@Test(timeout = 36000)
public void test()
{
 TwoLinkRobotForTesting twoLinkRobotForTesting = new TwoLinkRobotForTesting();
 SimulationConstructionSet scs = new SimulationConstructionSet(twoLinkRobotForTesting, simulationTestingParameters);
 scs.setDT(0.00001, 100);
 scs.startOnAThread();
 twoLinkRobotForTesting.setElbowPosition(0.0);
 twoLinkRobotForTesting.setUpperPosition(3.0);
 
 twoLinkRobotForTesting.setElbowVelocity(-2.0);
 twoLinkRobotForTesting.setUpperVelocity(-3.0);
 
 scs.simulate(6.0);
 
 while(scs.isSimulating())
 {
   Thread.yield();
 }
 
 RobotAllJointsDataChecker robotAllJointsDataChecker = new RobotAllJointsDataChecker(scs, twoLinkRobotForTesting);
 robotAllJointsDataChecker.cropFirstPoint();
 
 scs.applyDataProcessingFunction(robotAllJointsDataChecker);
}

代码示例来源：origin: us.ihmc/robot-environment-awareness-application

public void startSimulation() throws IOException
{
 SimpleLidarRobot robot = new SimpleLidarRobot();
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(true, RealtimeTools.nextPowerOfTwo(200000));
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
 double simDT = 0.0001;
 double controlDT = 0.01;
 scs.setDT(simDT, 10);
 scs.setSimulateDoneCriterion(() -> false);
 Graphics3DAdapter graphics3dAdapter = scs.getGraphics3dAdapter();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 SimpleLidarRobotController controller = new SimpleLidarRobotController(robot, controlDT, ros2Node, graphics3dAdapter,
                                     yoGraphicsListRegistry);
 robot.setController(controller, (int) (controlDT / simDT));
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 createGroundTypeListener(scs);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 scs.simulate();
}

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

scs.setDT(simulateDT, recordFrequency);
scs.startOnAThread();
scs.simulate();

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

scs.simulate(Double.MAX_VALUE);
boolean isSCSSimulatingBeforeCriterion = scs.isSimulating();
setSimulationDoneCriterion.set(true);

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