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

SimulationConstructionSet.getTime介绍

暂无

代码示例

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

public boolean verifySimRunsSameWayTwice(double maxPercentDifference, ArrayList<String> stringsToIgnore) throws BlockingSimulationRunner.SimulationExceededMaximumTimeException, ControllerFailureException
{
 boolean firstSimDone, secondSimDone;
 firstSimDone = secondSimDone = false;
 initiateMotion(scsOne, standingTimeDuration, blockingSimulationRunnerOne);
 initiateMotion(scsTwo, standingTimeDuration, blockingSimulationRunnerTwo);
 while(!firstSimDone && !secondSimDone)
 {
   blockingSimulationRunnerOne.simulateAndBlock(1.0);
   blockingSimulationRunnerTwo.simulateAndBlock(1.0);
   if (!compareSCSInstances(maxPercentDifference, stringsToIgnore))
   {
    System.err.println("Mismatch in sim states!");
    return false;
   }
   firstSimDone = (scsOne.getTime() - standingTimeDuration) >= walkingTimeDuration;
   secondSimDone = (scsTwo.getTime() - standingTimeDuration) >= walkingTimeDuration;
   if(firstSimDone != secondSimDone)
   {
    System.err.println("Sims did not finish at the same time!");
    return false;
   }
 }
 return true;
}

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

@Override
  public void run()
  {
   while (running())
   {
     try
     {
      Thread.sleep(900);
      pelvisTransform.set(pelvis.getJointTransform3D());
      long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
      Thread.sleep((int) (random.nextDouble() * 200));
      TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(pelvisTransform, timeStamp);
      StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
      externalPelvisPoseCreator.setNewestPose(posePacket);
     }
     catch (InterruptedException e)
     {
      e.printStackTrace();
     }
   }
  }
};

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

public void addPlanarRegionsList(PlanarRegionsList planarRegions, AppearanceDefinition... appearances)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, planarRegions, appearances);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

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

public void addPolygon(RigidBodyTransform transform, ConvexPolygon2D polygon, AppearanceDefinition appearance)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 graphics3DObject.transform(transform);
 graphics3DObject.addPolygon(polygon, appearance);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

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

private boolean yawBigInDoubleSupport(ExternalPelvisPoseCreator externalPelvisPoseCreator) throws SimulationExceededMaximumTimeException
{
 long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
 RigidBodyTransform yawTransform = TransformTools.createTransformFromTranslationAndEulerAngles(1, 1, 0.8, 0, 0, Math.PI);
 TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(yawTransform, timeStamp);
 StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
 drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1);
 externalPelvisPoseCreator.setNewestPose(posePacket);
 return drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(10);
}

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

private void update(double dt)
{
 solePose.setFromReferenceFrame(swingOverPlanarRegionsTrajectoryExpander.getSolePoseReferenceFrame());
 for (SwingOverPlanarRegionsTrajectoryCollisionType swingOverPlanarRegionsTrajectoryCollisionType : SwingOverPlanarRegionsTrajectoryCollisionType.values())
 {
   intersectionMap.get(swingOverPlanarRegionsTrajectoryCollisionType)
          .setPosition(swingOverPlanarRegionsTrajectoryExpander.getClosestPolygonPoint(swingOverPlanarRegionsTrajectoryCollisionType));
 }
 double sphereRadius = swingOverPlanarRegionsTrajectoryExpander.getSphereRadius();
 collisionSphere.setRadii(new Vector3D(sphereRadius, sphereRadius, sphereRadius));
 collisionSphere.update();
 scs.tickAndUpdate(scs.getTime() + dt);
}

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

private boolean yawBigInSingleSupport(ExternalPelvisPoseCreator externalPelvisPoseCreator) throws SimulationExceededMaximumTimeException
  {
//      FootPosePacket packet = new FootPosePacket(RobotSide.RIGHT, new Point3D(1, 1, 0.3), new Quat4d(), 0.6);
//      drcSimulationTestHelper.send(packet);
   drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(2);
   long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
   RigidBodyTransform yawTransform = TransformTools.createTransformFromTranslationAndEulerAngles(1, 1, 0.8, 0, 0, Math.PI);
   TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(yawTransform, timeStamp);
   StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
   drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1);
   externalPelvisPoseCreator.setNewestPose(posePacket);
   return drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(10);
  }

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

private boolean localizeOutsideOfFootInSingleSupport(ExternalPelvisPoseCreator externalPelvisPoseCreator) throws SimulationExceededMaximumTimeException
  {
//      FootPosePacket packet = new FootPosePacket(RobotSide.RIGHT, new Point3D(1.0, 1.0, 0.3), new Quat4d(), 0.6);
//      drcSimulationTestHelper.send(packet);
   drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(2.0);
   long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
   RigidBodyTransform outsideOfFootTransform = TransformTools.createTransformFromTranslationAndEulerAngles(1.5, 1.0, 0.8, 0.0, 0.0, 0.0);
   TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(outsideOfFootTransform, timeStamp);
   StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
   drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0);
   externalPelvisPoseCreator.setNewestPose(posePacket);
   return drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(10.0);
  }

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

@Override
 public void doControl()
 {
   refFrame.update();
   sixDofPelvisJoint.setJointConfiguration(robotPose);
   pelvisPoseHistoryCorrection.doControl(Conversions.secondsToNanoseconds(scs.getTime()));
   floatingJoint.setQuaternion(sixDofPelvisJoint.getJointPose().getOrientation());
   floatingJoint.setPosition(sixDofPelvisJoint.getJointPose().getPosition());
 }
}

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

while (scs.getTime() - standingTimeDuration < walkingTimeDuration)
   fail("Math.abs(comError.getDoubleValue()) > 0.09: " + comError.getDoubleValue() + " at t = " + scs.getTime());

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

long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(targets[i], timeStamp);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);

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

target.setXYZ(targetTranslation.getX(), targetTranslation.getY(), targetTranslation.getZ());
long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(targets[i], timeStamp);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);

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

while (scs.getTime() - standingTimeDuration < defaultWalkingTimeDuration)
   fail("Math.abs(comError.getDoubleValue()) > 0.06: " + comError.getDoubleValue() + " at t = " + scs.getTime());

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

long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(targets[i], timeStamp);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);

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

error.set(targetTranslation.getX(), targetTranslation.getY(), targetTranslation.getZ(), targetYaw);
long timeStamp = Conversions.secondsToNanoseconds(simulationConstructionSet.getTime());
TimeStampedTransform3D timeStampedTransform = new TimeStampedTransform3D(targets[i], timeStamp);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);

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

if (scs.getTime() > standingTimeDuration + maximumWalkTime)
 done = true;
if (q_x.getDoubleValue() > rampEndX)

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

if (scs.getTime() > standingTimeDuration + maximumWalkTime)
 done = true;
if (q_x.getDoubleValue() > rampEndX)

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

scs.setTime(scs.getTime() + 1.0);
scs.tickAndUpdate();

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