How to use

getCapturePointPlannerParameters

method

in

us.ihmc.avatar.drcRobot.DRCRobotModel

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();