Tabnine Logo
DRCRobotModel.getEstimatorDT
Code IndexAdd Tabnine to your IDE (free)

How to use
getEstimatorDT
method
in
us.ihmc.avatar.drcRobot.DRCRobotModel

Best Java code snippets using us.ihmc.avatar.drcRobot.DRCRobotModel.getEstimatorDT (Showing top 17 results out of 315)

origin: us.ihmc/acsell

@Override
public double getEstimatorDT()
{
 return robotModel.getEstimatorDT();
}
origin: us.ihmc/IHMCAvatarInterfaces

public DiagnosticAnalysisProcessor(LogDataProcessorHelper logDataProcessorHelper, DRCRobotModel drcRobotModel)
{
 this.logDataProcessorHelper = logDataProcessorHelper;
 diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.OFFLINE_LOG, false);
 fullRobotModel = logDataProcessorHelper.getFullRobotModel();
 dt = drcRobotModel.getEstimatorDT();
 logYoVariableHolder = logDataProcessorHelper.getLogYoVariableHolder();
}
origin: us.ihmc/ihmc-avatar-interfaces

public DiagnosticAnalysisProcessor(LogDataProcessorHelper logDataProcessorHelper, DRCRobotModel drcRobotModel)
{
 this.logDataProcessorHelper = logDataProcessorHelper;
 diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.OFFLINE_LOG, false);
 fullRobotModel = logDataProcessorHelper.getFullRobotModel();
 dt = drcRobotModel.getEstimatorDT();
 logYoVariableHolder = logDataProcessorHelper.getLogYoVariableHolder();
}
origin: us.ihmc/ihmc-avatar-interfaces-test

int estimatorTicksPerSimulationTick = (int) Math.round(robotModel.getEstimatorDT() / robotModel.getEstimatorDT());
int controllerTicksPerSimulationTick = (int) Math.round(robotModel.getControllerDT() / robotModel.getEstimatorDT());
                                           robotModel.getEstimatorDT());
origin: us.ihmc/ihmc-avatar-interfaces

private void setupYoVariableServer()
{
 if (createYoVariableServer.get())
 {
   yoVariableServer = new YoVariableServer(getClass(), new PeriodicNonRealtimeThreadSchedulerFactory(), robotModel.get().getLogModelProvider(),
                       robotModel.get().getLogSettings(), robotModel.get().getEstimatorDT());
 }
}
origin: us.ihmc/IHMCAvatarInterfaces

private void setupControllerThread()
{
 controllerThread = new DRCControllerThread(robotModel.get(), robotModel.get().getSensorInformation(), momentumBasedControllerFactory.get(),
                       threadDataSynchronizer, simulationOutputWriter, humanoidGlobalDataProducer.get(), yoVariableServer,
                       gravity.get(), robotModel.get().getEstimatorDT());
}
origin: us.ihmc/RobotiqHandDrivers

this.estimatorDTInNS = TimeTools.secondsToNanoSeconds(robotModel.getEstimatorDT());
sendFingerJointGains.set(true);
origin: us.ihmc/IHMCAvatarInterfaces

private void setupYoVariableServer()
{
 if (robotModel.get().getLogSettings().isLog())
 {
   yoVariableServer = new YoVariableServer(getClass(), new PeriodicNonRealtimeThreadScheduler("DRCSimulationYoVariableServer"),
                       robotModel.get().getLogModelProvider(), robotModel.get().getLogSettings(), robotModel.get().getEstimatorDT());
 }
 else
 {
   yoVariableServer = null;
 }
}
origin: us.ihmc/ihmc-avatar-interfaces

private void setupMultiThreadedRobotController()
{
 if (scsInitialSetup.get().getRunMultiThreaded())
 {
   threadedRobotController = new MultiThreadedRobotController("DRCSimulation", humanoidFloatingRootJointRobot, simulationConstructionSet);
 }
 else
 {
   PrintTools.warn(this, "Running simulation in single threaded mode", true);
   threadedRobotController = new SingleThreadedRobotController("DRCSimulation", humanoidFloatingRootJointRobot, simulationConstructionSet);
 }
 int estimatorTicksPerSimulationTick = (int) Math.round(robotModel.get().getEstimatorDT() / robotModel.get().getSimulateDT());
 int controllerTicksPerSimulationTick = (int) Math.round(robotModel.get().getControllerDT() / robotModel.get().getSimulateDT());
 int slowPublisherTicksPerSimulationTick = (int) Math.round(10 * robotModel.get().getEstimatorDT() / robotModel.get().getSimulateDT());
 threadedRobotController.addController(stateEstimationThread, estimatorTicksPerSimulationTick, false);
 threadedRobotController.addController(controllerThread, controllerTicksPerSimulationTick, true);
 MultiThreadedRobotControlElement simulatedHandController = robotModel.get().createSimulatedHandController(humanoidFloatingRootJointRobot,
                                                      threadDataSynchronizer, realtimeRos2Node.get(),
                                                      closeableAndDisposableRegistry);
 if (simulatedHandController != null)
 {
   threadedRobotController.addController(simulatedHandController, controllerTicksPerSimulationTick, false);
 }
}
origin: us.ihmc/robotiq-hand-drivers

this.estimatorDTInNS = Conversions.secondsToNanoseconds(robotModel.getEstimatorDT());
sendFingerJointGains.set(true);
origin: us.ihmc/ihmc-avatar-interfaces-test

success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 10);
targets[i].getTranslation(targetTranslation);
targets[i].getRotation(targetQuat);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 3);
externalPelvisPosePublisher.setNewestPose(posePacket);
 success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT());
 success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 100);
origin: us.ihmc/ihmc-avatar-interfaces

private void setupControllerThread()
{
 String robotName = robotModel.get().getSimpleRobotName();
 controllerThread = new DRCControllerThread(robotName, robotModel.get(), robotModel.get().getSensorInformation(), highLevelHumanoidControllerFactory.get(),
                       threadDataSynchronizer, simulationOutputProcessor, realtimeRos2Node.get(), yoVariableServer, gravity.get(),
                       robotModel.get().getEstimatorDT());
}
origin: us.ihmc/ihmc-avatar-interfaces-test

success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 10);
targets[i].getTranslation(targetTranslation);
targets[i].getRotation(targetQuat);
StampedPosePacket posePacket = HumanoidMessageTools.createStampedPosePacket("/pelvis", timeStampedTransform, 1.0);
success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 3);
externalPelvisPosePublisher.setNewestPose(posePacket);
 success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT());
 success &= drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(getRobotModel().getEstimatorDT() * 100);
origin: us.ihmc/IHMCAvatarInterfaces

public AutomatedDiagnosticConfiguration createDiagnosticController(boolean startWithRobotAlive)
{
 simulatedRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 DiagnosticLoggerConfiguration.setupLogging(simulatedRobot.getYoTime(), getClass(), robotModel.getSimpleRobotName());
 if (robotInitialSetup == null)
   robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
 robotInitialSetup.initializeRobot(simulatedRobot, robotModel.getJointMap());
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 WalkingControllerParameters walkingControllerParameters = robotModel.getWalkingControllerParameters();
 DoubleYoVariable yoTime = simulatedRobot.getYoTime();
 double dt = robotModel.getEstimatorDT();
 StateEstimatorParameters stateEstimatorParameters = robotModel.getStateEstimatorParameters();
 if (diagnosticParameters == null)
   diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.RUNTIME_CONTROLLER, false);
 DiagnosticSensorProcessingConfiguration sensorProcessingConfiguration = new DiagnosticSensorProcessingConfiguration(diagnosticParameters, stateEstimatorParameters);
 SensorOutputMapReadOnly sensorOutputMap = createStateEstimator(fullRobotModel, stateEstimatorParameters, sensorProcessingConfiguration);
 DiagnosticControllerToolbox diagnosticControllerToolbox = new DiagnosticControllerToolbox(fullRobotModel, sensorOutputMap, diagnosticParameters, walkingControllerParameters, yoTime, dt,
    sensorProcessingConfiguration, simulationRegistry);
 automatedDiagnosticAnalysisController = new AutomatedDiagnosticAnalysisController(diagnosticControllerToolbox, gainStream, setpointStream,
    simulationRegistry);
 automatedDiagnosticAnalysisController.setRobotIsAlive(startWithRobotAlive);
 automatedDiagnosticConfiguration = new AutomatedDiagnosticConfiguration(diagnosticControllerToolbox, automatedDiagnosticAnalysisController);
 outputWriter = new DRCSimulationOutputWriter(simulatedRobot);
 outputWriter.setFullRobotModel(fullRobotModel, null);
 int simulationTicksPerControlTick = (int) (robotModel.getEstimatorDT() / robotModel.getSimulateDT());
 simulatedRobot.setController(this, simulationTicksPerControlTick);
 return automatedDiagnosticConfiguration;
}
origin: us.ihmc/IHMCAvatarInterfaces

  threadedRobotController = new SingleThreadedRobotController("DRCSimulation", humanoidFloatingRootJointRobot, simulationConstructionSet);
int estimatorTicksPerSimulationTick = (int) Math.round(robotModel.get().getEstimatorDT() / robotModel.get().getSimulateDT());
int controllerTicksPerSimulationTick = (int) Math.round(robotModel.get().getControllerDT() / robotModel.get().getSimulateDT());
int slowPublisherTicksPerSimulationTick = (int) Math.round(10 * robotModel.get().getEstimatorDT() / robotModel.get().getSimulateDT());
origin: us.ihmc/ihmc-avatar-interfaces

public AutomatedDiagnosticConfiguration createDiagnosticController(boolean startWithRobotAlive)
{
 simulatedRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 DiagnosticLoggerConfiguration.setupLogging(simulatedRobot.getYoTime(), getClass(), robotModel.getSimpleRobotName());
 if (robotInitialSetup == null)
   robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
 robotInitialSetup.initializeRobot(simulatedRobot, robotModel.getJointMap());
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 WalkingControllerParameters walkingControllerParameters = robotModel.getWalkingControllerParameters();
 YoDouble yoTime = simulatedRobot.getYoTime();
 double dt = robotModel.getEstimatorDT();
 StateEstimatorParameters stateEstimatorParameters = robotModel.getStateEstimatorParameters();
 if (diagnosticParameters == null)
   diagnosticParameters = new DiagnosticParameters(DiagnosticEnvironment.RUNTIME_CONTROLLER, false);
 JointDesiredOutputList lowLevelOutput = new JointDesiredOutputList(fullRobotModel.getOneDoFJoints());
 DiagnosticSensorProcessingConfiguration sensorProcessingConfiguration = new DiagnosticSensorProcessingConfiguration(diagnosticParameters, stateEstimatorParameters, lowLevelOutput);
 SensorOutputMapReadOnly sensorOutputMap = createStateEstimator(fullRobotModel, stateEstimatorParameters, sensorProcessingConfiguration);
 DiagnosticControllerToolbox diagnosticControllerToolbox = new DiagnosticControllerToolbox(fullRobotModel, lowLevelOutput, sensorOutputMap, diagnosticParameters, walkingControllerParameters, yoTime, dt,
    sensorProcessingConfiguration, simulationRegistry);
 automatedDiagnosticAnalysisController = new AutomatedDiagnosticAnalysisController(diagnosticControllerToolbox, gainStream, setpointStream,
    simulationRegistry);
 automatedDiagnosticAnalysisController.setRobotIsAlive(startWithRobotAlive);
 automatedDiagnosticConfiguration = new AutomatedDiagnosticConfiguration(diagnosticControllerToolbox, automatedDiagnosticAnalysisController);
 lowLevelOutputWriter = new SimulatedLowLevelOutputWriter(simulatedRobot, false);
 lowLevelOutputWriter.setJointDesiredOutputList(lowLevelOutput);
 int simulationTicksPerControlTick = (int) (robotModel.getEstimatorDT() / robotModel.getSimulateDT());
 simulatedRobot.setController(this, simulationTicksPerControlTick);
 return automatedDiagnosticConfiguration;
}
origin: us.ihmc/valkyrie

this.estimatorDTInNS = Conversions.secondsToNanoseconds(robotModel.getEstimatorDT());
us.ihmc.avatar.drcRobotDRCRobotModelgetEstimatorDT

Popular methods of DRCRobotModel

  • getControllerDT
  • createFullRobotModel
  • getContactPointParameters
  • getDefaultRobotInitialSetup
  • getSensorInformation
  • getSimulateDT
  • getStateEstimatorParameters
  • createHumanoidFloatingRootJointRobot
  • getCapturePointPlannerParameters
  • getJointMap
  • getSimpleRobotName
  • getWalkingControllerParameters
  • getSimpleRobotName,
  • getWalkingControllerParameters,
  • getFootstepPlannerParameters,
  • getHighLevelControllerParameters,
  • createSimulatedHandController,
  • getLogModelProvider,
  • getLogSettings,
  • getPPSTimestampOffsetProvider,
  • getSensorSuiteManager

Popular in Java

  • Reactive rest calls using spring rest template
  • getApplicationContext (Context)
  • onCreateOptionsMenu (Activity)
  • runOnUiThread (Activity)
  • SocketTimeoutException (java.net)
    This exception is thrown when a timeout expired on a socket read or accept operation.
  • Permission (java.security)
    Legacy security code; do not use.
  • Stack (java.util)
    Stack is a Last-In/First-Out(LIFO) data structure which represents a stack of objects. It enables u
  • Vector (java.util)
    Vector is an implementation of List, backed by an array and synchronized. All optional operations in
  • JComboBox (javax.swing)
  • Scheduler (org.quartz)
    This is the main interface of a Quartz Scheduler. A Scheduler maintains a registry of org.quartz.Job
  • Best plugins for Eclipse
Tabnine Logo
  • Products

    Search for Java codeSearch for JavaScript code
  • IDE Plugins

    IntelliJ IDEAWebStormVisual StudioAndroid StudioEclipseVisual Studio CodePyCharmSublime TextPhpStormVimGoLandRubyMineEmacsJupyter NotebookJupyter LabRiderDataGripAppCode
  • Company

    About UsContact UsCareers
  • Resources

    FAQBlogTabnine AcademyTerms of usePrivacy policyJava Code IndexJavascript Code Index
Get Tabnine for your IDE now