private void checkTransferTimes(SimulationConstructionSet scs, double minimumTransferTime) { YoDouble firstTransferTime = null; if (getRobotModel().getCapturePointPlannerParameters() instanceof SmoothCMPPlannerParameters) firstTransferTime = getDoubleYoVariable(scs, "icpPlannerTransferDuration0", SmoothCMPBasedICPPlanner.class.getSimpleName()); else if (getRobotModel().getCapturePointPlannerParameters() instanceof ContinuousCMPICPPlannerParameters) firstTransferTime = getDoubleYoVariable(scs, "icpPlannerTransferDuration0", ContinuousCMPBasedICPPlanner.class.getSimpleName()); assertTrue("Executing transfer that is faster then allowed.", firstTransferTime.getDoubleValue() >= minimumTransferTime); }
private DRCSimulationStarter(DRCRobotModel robotModel, CommonAvatarEnvironmentInterface environment, GroundProfile3D groundProfile3D) { this.robotModel = robotModel; this.environment = environment; this.guiInitialSetup = new DRCGuiInitialSetup(false, false); this.robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0, 0); this.createSCSSimulatedSensors = true; this.scsInitialSetup = new DRCSCSInitialSetup(groundProfile3D, robotModel.getSimulateDT()); this.scsInitialSetup.setDrawGroundProfile(environment == null); this.scsInitialSetup.setInitializeEstimatorToActual(false); this.scsInitialSetup.setTimePerRecordTick(robotModel.getControllerDT()); this.scsInitialSetup.setRunMultiThreaded(true); this.highLevelControllerParameters = robotModel.getHighLevelControllerParameters(); this.walkingControllerParameters = robotModel.getWalkingControllerParameters(); this.capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters(); this.contactPointParameters = robotModel.getContactPointParameters(); }
public DRCSimulationStarter(DRCRobotModel robotModel, CommonAvatarEnvironmentInterface environment) { this.robotModel = robotModel; this.environment = environment; this.guiInitialSetup = new DRCGuiInitialSetup(false, false); this.robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0, 0); this.createSCSSimulatedSensors = true; scsInitialSetup = new DRCSCSInitialSetup(environment, robotModel.getSimulateDT()); scsInitialSetup.setInitializeEstimatorToActual(false); scsInitialSetup.setTimePerRecordTick(robotModel.getControllerDT()); scsInitialSetup.setRunMultiThreaded(true); this.walkingControllerParameters = robotModel.getWalkingControllerParameters(); this.armControllerParameters = robotModel.getArmControllerParameters(); this.capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters(); this.icpOptimizationParameters = robotModel.getICPOptimizationParameters(); this.contactPointParameters = robotModel.getContactPointParameters(); }
ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters(); HighLevelControllerParameters highLevelControllerParameters = robotModel.getHighLevelControllerParameters();
ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); DRCRobotSensorInformation sensorInformation = model.getSensorInformation(); SideDependentList<String> feetForceSensorNames = sensorInformation.getFeetForceSensorNames();
private void createWalkingControllerAndSetUpManagerFactory(YoVariableRegistry walkingControllerParent, YoVariableRegistry managerFactoryParent) ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters();
CapturePointPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); ICPOptimizationParameters icpOptimizationParameters = model.getICPOptimizationParameters(); ContactableBodiesFactory contactableBodiesFactory = contactPointParameters.getContactableBodiesFactory();
HighLevelControllerParameters highLevelControllerParameters = model.getHighLevelControllerParameters(); WalkingControllerParameters walkingControllerParameters = model.getWalkingControllerParameters(); ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); SideDependentList<String> feetContactSensorNames = sensorInformation.getFeetContactSensorNames(); SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames();
ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters();
ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters();
WalkingControllerParameters walkingControllerParameters = model.getWalkingControllerParameters(); ArmControllerParameters armControllerParameters = model.getArmControllerParameters(); CapturePointPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters(); ICPOptimizationParameters icpOptimizationParameters = model.getICPOptimizationParameters(); SideDependentList<String> feetContactSensorNames = sensorInformation.getFeetContactSensorNames();