@Override public void start(Stage primaryStage) throws Exception { DRCRobotModel drcRobotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, false); messager = new SharedMemoryJavaFXMessager(FootstepPlannerMessagerAPI.API); messageConverter = RemoteUIMessageConverter.createConverter(messager, drcRobotModel.getSimpleRobotName(), DomainFactory.PubSubImplementation.FAST_RTPS); messager.startMessager(); ui = FootstepPlannerUI.createMessagerUI(primaryStage, messager, drcRobotModel.getFootstepPlannerParameters(), drcRobotModel.getVisibilityGraphsParameters()); ui.show(); }
public FootstepPlanningToolboxModule(DRCRobotModel drcRobotModel, LogModelProvider modelProvider, boolean startYoVariableServer, DomainFactory.PubSubImplementation pubSubImplementation) throws IOException { super(drcRobotModel.getSimpleRobotName(), drcRobotModel.createFullRobotModel(), modelProvider, startYoVariableServer, pubSubImplementation); setTimeWithoutInputsBeforeGoingToSleep(Double.POSITIVE_INFINITY); footstepPlanningToolboxController = new FootstepPlanningToolboxController(drcRobotModel.getContactPointParameters(), drcRobotModel.getFootstepPlannerParameters(), drcRobotModel.getVisibilityGraphsParameters(), statusOutputManager, registry, yoGraphicsListRegistry, Conversions.millisecondsToSeconds(DEFAULT_UPDATE_PERIOD_MILLISECONDS)); footstepPlanningToolboxController.setTextToSpeechPublisher(textToSpeechPublisher); startYoVariableServer(); }
@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = timeout) public void testWalkingBetweenBollardsAStarPlanner() { DRCStartingLocation startingLocation = () -> new OffsetAndYawRobotInitialSetup(-1.5, 0.0, 0.007, 0.0); FramePose3D goalPose = new FramePose3D(); goalPose.setX(1.5); setupSimulation(bollardPlanarRegions, startingLocation); CollisionCheckerScript collisionChecker = getCollisionChecker(500); drcSimulationTestHelper.createSimulation("FootstepPlannerEndToEndTest"); drcSimulationTestHelper.getSimulationConstructionSet().addScript(collisionChecker); FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters(); FootstepPlannerParametersPacket parametersPacket = new FootstepPlannerParametersPacket(); RemoteUIMessageConverter.copyFootstepPlannerParametersToPacket(parametersPacket, parameters); parametersPacket.setCheckForBodyBoxCollisions(true); parametersPacket.setReturnBestEffortPlan(false); footstepPlannerParametersPublisher.publish(parametersPacket); runEndToEndTestAndKeepSCSUpIfRequested(FootstepPlannerType.A_STAR, bollardPlanarRegions, goalPose); }
drcRobotModel.getFootstepPlannerParameters(), drcRobotModel.getVisibilityGraphsParameters(), commandInputManager, statusOutputManager, executorService, registry, yoGraphicsListRegistry,
FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters();
FootstepPlannerParameters parameters = getRobotModel().getFootstepPlannerParameters();