@Override public String getDescription() { return robot.getName(); }
public TorqueSpeedDataExporter(SimulationConstructionSet scs, Robot robot, Class<?> rootClassForDirectory) { this(scs, robot, rootClassForDirectory, robot.getName()); }
@Override public String getName() { return robot.getName(); }
public TorqueSpeedDataExporter(SimulationConstructionSet scs, Robot robot) { this(scs, robot, robot.getClass(), robot.getName()); }
private boolean scsContainsTheRobot(SimulationConstructionSet scs, String robotName) { Robot[] robots = scs.getRobots(); boolean ret = false; for (int i = 0; i < robots.length; i++) { ret = ret || robots[i].getName().equals(robotName); } return ret; }
public SDFRobotWriter(Class<? extends Robot> robotClass) throws JAXBException, InstantiationException, IllegalAccessException { System.out.println("Creating SDFRobot for: " + robotClass.getSimpleName()); scsRobot = robotClass.newInstance(); scsRobot.update(); String resourceDirectory = robotClass.getResource(".").getFile(); sdfModelName = scsRobot.getName(); sdfFilePath = resourceDirectory + sdfModelName + ".sdf"; System.out.println("SDF file location: " + sdfFilePath); writeSDFRobotDescriptionFile(); }
public SDFRobotWriter(Class<? extends Robot> robotClass) throws JAXBException, InstantiationException, IllegalAccessException { System.out.println("Creating SDFRobot for: " + robotClass.getSimpleName()); scsRobot = robotClass.newInstance(); scsRobot.update(); String resourceDirectory = robotClass.getResource(".").getFile(); sdfModelName = scsRobot.getName(); sdfFilePath = resourceDirectory + sdfModelName + ".sdf"; System.out.println("SDF file location: " + sdfFilePath); writeSDFRobotDescriptionFile(); }
ConservedQuantitiesChecker(Robot robot) { this.robot = robot; this.rootJoint = (FloatingJoint) robot.getRootJoints().get(0); this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName()); }
SinusoidalTorqueController(Robot robot) { this.t = robot.getYoTime(); this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName()); Joint rootJoint = robot.getRootJoints().get(0); for(Joint childJoint : rootJoint.getChildrenJoints()) { recursivelyAddJointTorqueProfile(childJoint); } }
public void concludeTesting(int additionalStackDepthForRelevantCallingMethod) { if (simulationTestingParameters.getKeepSCSUp()) { ThreadTools.sleepForever(); } if (simulationTestingParameters.getCreateSCSVideos()) { BambooTools.createVideoWithDateTimeClassMethodAndShareOnSharedDriveIfAvailable(scs.getRobots()[0].getName(), scs, additionalStackDepthForRelevantCallingMethod + 1); } ThreadTools.sleep(200); scs.closeAndDispose(); }
String tagName = timeStamp + "_" + robot.getName();
private void writeInfoToWorkBook(WritableWorkbook workbook) { WritableSheet infoSheet = workbook.createSheet("Run info", workbook.getNumberOfSheets()); int labelColumn = 0; int dataColumn = 1; int row = 0; addStringToSheet(infoSheet, labelColumn, row, "Date: ", headerCellFormat); WritableCell dateCell = new DateTime(dataColumn, row, Date.from(ZonedDateTime.now().toInstant())); addCell(infoSheet, dateCell); row++; addStringToSheet(infoSheet, labelColumn, row, "Robot type: ", headerCellFormat); addStringToSheet(infoSheet, dataColumn, row, robot.getClass().getSimpleName()); row++; addStringToSheet(infoSheet, labelColumn, row, "Robot name: ", headerCellFormat); addStringToSheet(infoSheet, dataColumn, row, robot.getName()); row++; addStringToSheet(infoSheet, labelColumn, row, "Total mass [kg]: ", headerCellFormat); addNumberToSheet(infoSheet, dataColumn, row, robot.computeCenterOfMass(new Point3D())); row++; addStringToSheet(infoSheet, labelColumn, row, "Run time [s]: ", headerCellFormat); addNumberToSheet(infoSheet, dataColumn, row, dataBuffer.getEntry(robot.getYoTime()).getMax()); row++; addStringToSheet(infoSheet, labelColumn, row, "Mechanical cost of transport: ", headerCellFormat); addNumberToSheet(infoSheet, dataColumn, row, computeMechanicalCostOfTransport()); row++; }