How to use

us.ihmc.wholeBodyController.diagnostics.DiagnosticControllerToolbox

constructor

DiagnosticControllerToolbox toolbox = new DiagnosticControllerToolbox(fullRobotModel, estimatorDesiredJointDataHolder, sensorOutputMap,
                                   diagnosticParameters, walkingControllerParameters, diagnosticControllerTime,
                                   diagnosticControllerDT, diagnosticSensorProcessingConfiguration, registry);

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;
}

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;
}

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;
}