private SimulationConstructionSet constructSimulationConstructionSet(Robot robot, RobotController controller) { SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(SHOW_GUI); SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters); scs.setDT(DT, 1); Thread thread = new Thread(scs); thread.start(); try { Thread.sleep(2000); } catch (InterruptedException e) { } return scs; }
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setDataBufferSize(5000); scs = new SimulationConstructionSet(robot, parameters); SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(true); parameters.setDataBufferSize(5000);
public <T extends RobotControllerWithAttachRobot> SimulationConstructionSet setupSCS(T controller) throws InterruptedException { boolean showGUI = true; FallingBrickRobot robot = new FallingBrickRobot(); controller.attachRobot(robot); assertFalse(controller.getYoVariableRegistry() == null); robot.setController(controller); SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(showGUI); parameters.setDataBufferSize(2000); SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters); scs.setFrameMaximized(); scs.startOnAThread(); Thread.sleep(DELAY_TIME_FOR_HUMAN_CONVENIENT_VIEWING); StandardSimulationGUI scsGUI = scs.getStandardSimulationGUI(); EntryBoxArrayPanel temp = scsGUI.getEntryBoxArrayPanel(); temp.removeAllEntryBoxes(); scsGUI.getEntryBoxArrayPanel().updateUI(); Thread.sleep(DELAY_TIME_FOR_HUMAN_CONVENIENT_VIEWING); return scs; }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testMinGreaterThanMax() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters); scs.hideViewport(); scs.startOnAThread(); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); yoVariableValueDataChecker.setMaximumValue(1.0); yoVariableValueDataChecker.setMinimumValue(2.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000, expected=RuntimeException.class) public void testMaxGreaterThanMin() { Robot robot = new Robot("Derivative"); YoVariableRegistry registry = new YoVariableRegistry("variables"); YoDouble position = new YoDouble("position", registry); robot.addYoVariableRegistry(registry); SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationConstructionSetParameters); scs.hideViewport(); scs.startOnAThread(); ValueDataCheckerParameters valueDataCheckerParameters = new ValueDataCheckerParameters(); YoVariableValueDataChecker yoVariableValueDataChecker = new YoVariableValueDataChecker(scs, position, robot.getYoTime(), valueDataCheckerParameters); yoVariableValueDataChecker.setMinimumValue(2.0); yoVariableValueDataChecker.setMaximumValue(1.0); }
SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties();
YoDouble variableOne = new YoDouble("variableOne", registryOne); SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties(); parameters.setCreateGUI(SHOW_GUI); SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
robot.getRobotsYoVariableRegistry().addChild(registryTwo); SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(SHOW_GUI); SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(SHOW_GUI); SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties();
SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties();
SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); simulationConstructionSetParameters.setCreateGUI(false); simulationConstructionSetParameters.setShowSplashScreen(false);
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(false); parameters.setDataBufferSize(8192);
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(false); parameters.setDataBufferSize(8192);
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(false); parameters.setDataBufferSize(8192);
SimulationConstructionSetParameters parameters = SimulationConstructionSetParameters.createFromSystemProperties();; parameters.setCreateGUI(false); parameters.setDataBufferSize(8192);
private void runWalkingOverTerrain(PlanarRegionEnvironmentInterface environment, double walkTime, double walkingSpeed, double minimumXPositionAfterWalking, QuadrupedXGaitSettingsReadOnly xGaitSettings) throws IOException SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); simulationConstructionSetParameters.setUseAutoGroundGraphics(false);
PlanarRegionsListDefinedEnvironment environment = new PlanarRegionsListDefinedEnvironment("testEnvironment", planarRegionsList, 1e-2, false); SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); simulationConstructionSetParameters.setUseAutoGroundGraphics(false);
double stanceLength = 0.7; SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); simulationConstructionSetParameters.setUseAutoGroundGraphics(false);
SimulationConstructionSetParameters simulationConstructionSetParameters = SimulationConstructionSetParameters.createFromSystemProperties(); simulationConstructionSetParameters.setUseAutoGroundGraphics(false); QuadrupedInitialOffsetAndYaw initialOffset = new QuadrupedInitialOffsetAndYaw(new Vector3D(environment.getStartPosition()), environment.getStartYaw());