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

SimulationConstructionSet.getDT介绍

暂无

代码示例

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

private double getExpectedFinalTime(SimulationConstructionSet scs)
{
 double initialTime = scs.getRobots()[0].getTime();
 double recordFreq = scs.getRecordFreq();
 double DT = scs.getDT();
 return initialTime + recordFreq * DT;
}

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/ihmc-avatar-interfaces-test

AngularMomentumRecorder(DRCSimulationTestHelper helper)
{
  this.recordFrequency = (int) Math.round(angularMomentumRecordDT / helper.getSimulationConstructionSet().getDT());
  this.angularMomentumX = (YoDouble) helper.getYoVariable("AngularMomentumX");
  this.angularMomentumY = (YoDouble) helper.getYoVariable("AngularMomentumY");
  this.angularMomentumZ = (YoDouble) helper.getYoVariable("AngularMomentumZ");
  this.time = (YoDouble) helper.getYoVariable("t");
  drcSimulationTestHelper.getSimulationConstructionSet().addScript(this);
  recordCounter = recordFrequency - 1;
}

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

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, FloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector
    .createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED, 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

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

private OscillateFeetPerturber generateFeetPertuber(final SimulationConstructionSet simulationConstructionSet, HumanoidFloatingRootJointRobot robot, int ticksPerPerturbation)
{
 OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation));
 oscillateFeetPerturber.setTranslationMagnitude(new double[] { 0.008, 0.012, 0.005 });
 oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] { 0.010, 0.06, 0.010 });
 oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] { 1.0, 2.5, 3.3 });
 oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] { 2.0, 0.5, 1.3 });
 oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] { 5.0, 0.5, 0.3 });
 oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] { 0.2, 3.4, 1.11 });
 return oscillateFeetPerturber;
}

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

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

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

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

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

public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep)
{
 bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot);
 nullRobot.setTime(nullRobot.getTime() + scs.getDT());
 FramePoint3D solePositon = new FramePoint3D(footstep.getSoleReferenceFrame());
 solePositon.changeFrame(worldFrame);
 updateFocus(solePositon);
 scs.setCameraFix(focusX, focusY, 0.0);
 scs.setCameraPosition(focusX, focusY - 1.5, 6.0);
 scs.tickAndUpdate();
}

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

public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep)
{
 bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot);
 nullRobot.setTime(nullRobot.getTime() + scs.getDT());
 FramePoint solePositon = new FramePoint(footstep.getSoleReferenceFrame());
 solePositon.changeFrame(worldFrame);
 updateFocus(solePositon);
 scs.setCameraFix(focusX, focusY, 0.0);
 scs.setCameraPosition(focusX, focusY - 1.5, 6.0);
 scs.tickAndUpdate();
}

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

@Test// timeout = 30000
public void testTimingMethods() throws AWTException
{
 scs.setDT(simulateDT, recordFrequency);
 double simulateDTFromSCS = scs.getDT();
 assertEquals(simulateDT, simulateDTFromSCS, epsilon);
 scs.setRecordDT(recordDT);
 double recordFreqFromSCS = scs.getRecordFreq();
 assertEquals(recordFreq, recordFreqFromSCS, epsilon);
 scs.setPlaybackRealTimeRate(realTimeRate);
 double realTimeRateFromSCS = scs.getPlaybackRealTimeRate();
 assertEquals(realTimeRate, realTimeRateFromSCS, epsilon);
 scs.setPlaybackDesiredFrameRate(frameRate);
 double frameRateFromSCS = scs.getPlaybackFrameRate();
 assertEquals(recomputedSecondsPerFrameRate, frameRateFromSCS, epsilon);
 int ticksPerCycle = computeTicksPerPlayCycle(simulateDT, recordFreq, realTimeRate, frameRate);
 double ticksPerCycleFromSCS = scs.getTicksPerPlayCycle();
 assertEquals(ticksPerCycle, ticksPerCycleFromSCS, epsilon);
 scs.setTime(Math.PI);
 double timeFromSCS = scs.getTime();
 assertEquals(Math.PI, timeFromSCS, epsilon);
}

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

int simulationTicks = (int) (getRobotModel().getControllerDT() / scs.getDT());
drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(simulationTicks);

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

public void testStandingWithStateEstimatorDrift() throws SimulationExceededMaximumTimeException
{
 BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
 FlatGroundEnvironment flatGround = new FlatGroundEnvironment();
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, getRobotModel());
 drcSimulationTestHelper.setTestEnvironment(flatGround);
 drcSimulationTestHelper.createSimulation("DRCSimpleFlatGroundScriptTest");
 SimulationConstructionSet simulationConstructionSet = drcSimulationTestHelper.getSimulationConstructionSet();
 HumanoidFloatingRootJointRobot robot = drcSimulationTestHelper.getRobot();
 FullHumanoidRobotModel fullRobotModel = drcSimulationTestHelper.getControllerFullRobotModel();
 setupCameraForWalkingUpToRamp();
 Vector3DReadOnly slidingVelocity = new Vector3D(0.10, 0.0, 0.0);
 double simDT = simulationConstructionSet.getDT();
 Script stateEstimatorDriftator = createStateEstimatorDriftator(simulationConstructionSet, fullRobotModel, slidingVelocity, simDT);
 simulationConstructionSet.addScript(stateEstimatorDriftator);
 boolean success = drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(10.0);
 drcSimulationTestHelper.createVideo(getSimpleRobotName(), 1);
 drcSimulationTestHelper.checkNothingChanged();
 assertTrue(success);
 Point3D center = new Point3D(0.0, 0.0, 0.86);
 Vector3D plusMinusVector = new Vector3D(0.06, 0.06, 0.05);
 BoundingBox3D boundingBox = BoundingBox3D.createUsingCenterAndPlusMinusVector(center, plusMinusVector);
 drcSimulationTestHelper.assertRobotsRootJointIsInBoundingBox(boundingBox);
 BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
}

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

OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation));
oscillateFeetPerturber.setTranslationMagnitude(new double[] {0.01, 0.015, 0.005});
oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] {0.017, 0.012, 0.011});

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

OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation));
oscillateFeetPerturber.setTranslationMagnitude(new double[] {0.008, 0.011, 0.004});
oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] {0.012, 0.047, 0.009});

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

double DT = scs.getDT();
callSCSMethodSimulateOneTimeStep(scs);
double finalTime = scs.getRobots()[0].getTime();

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