@Override public String getName() { return robotController.getName(); }
@Override public String getDescription() { return robotController.getDescription(); }
@Override public YoVariableRegistry getYoVariableRegistry() { return robotController.getYoVariableRegistry(); }
@Override public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { linearGroundContactModel.setZStiffness(1500.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(25000.0); linearGroundContactModel.setXYDamping(750.0); } }
public void setupGroundContactModelParameters(BidirectionGroundContactModel bidirectionGroundContactModel) { if (useSoftGroundContactParameters) { bidirectionGroundContactModel.setZStiffness(4000.0); bidirectionGroundContactModel.setZDamping(750.0); bidirectionGroundContactModel.setXYStiffness(50000.0); bidirectionGroundContactModel.setXYDamping(1000.0); } else { bidirectionGroundContactModel.setZStiffness(2000.0); bidirectionGroundContactModel.setZDamping(1500.0); bidirectionGroundContactModel.setXYStiffness(50000.0); bidirectionGroundContactModel.setXYDamping(2000.0); } } }
@Test// timeout=300000 public void testNoOverflow() { int index = 0; indexOrderChecker.update(index); int increment = 5; index += increment; indexOrderChecker.update(index); assertEquals(increment - 1, indexOrderChecker.getMissedIndices()); }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
@Override public void doControl() { if(!this.isInitialized.getValue()) { robotController.initialize(); this.isInitialized.set(true); } robotController.doControl(); }
@BeforeEach public void setUp() { YoVariableRegistry registry = new YoVariableRegistry("testRegistry"); indexOrderChecker = new IndexOrderChecker("test", registry, 1); }
sliderBoardConfigurationManager.setSlider(7, CommonNames.doIHMCControlRatio.toString(), registry, 0.0, 1.0);
@Override public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { linearGroundContactModel.setZStiffness(1500.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(25000.0); linearGroundContactModel.setXYDamping(750.0); } }
public void setupGroundContactModelParameters(BidirectionGroundContactModel bidirectionGroundContactModel) { if (useSoftGroundContactParameters) { bidirectionGroundContactModel.setZStiffness(4000.0); bidirectionGroundContactModel.setZDamping(750.0); bidirectionGroundContactModel.setXYStiffness(50000.0); bidirectionGroundContactModel.setXYDamping(1000.0); } else { bidirectionGroundContactModel.setZStiffness(2000.0); bidirectionGroundContactModel.setZDamping(1500.0); bidirectionGroundContactModel.setXYStiffness(50000.0); bidirectionGroundContactModel.setXYDamping(2000.0); } } }
@Test// timeout=300000 public void testOverflowOne() { int index = Integer.MAX_VALUE; indexOrderChecker.update(index); index++; indexOrderChecker.update(index); assertEquals(0, indexOrderChecker.getMissedIndices()); }
private GroundContactModel createGroundContactModel(Robot robot, GroundProfile3D groundProfile) { double kXY = 5000.0; double bXY = 100.0; double kZ = 1000.0; double bZ = 100.0; double alphaStick = 0.7; double alphaSlip = 0.5; GroundContactModel groundContactModel = new LinearStickSlipGroundContactModel(robot, kXY, bXY, kZ, bZ, alphaSlip, alphaStick, robot.getRobotsYoVariableRegistry()); groundContactModel.setGroundProfile3D(groundProfile); return groundContactModel; }
@Override public String getDescription() { return floatingRobotController.getDescription(); }
public InitializingRobotController(RobotController robotController) { this.robotController = robotController; this.isInitialized = new YoBoolean("isInitialized", robotController.getYoVariableRegistry()); this.isInitialized.set(false); }
public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel) { if (useSoftGroundContactParameters) { linearGroundContactModel.setZStiffness(4000.0); linearGroundContactModel.setZDamping(750.0); linearGroundContactModel.setXYStiffness(50000.0); linearGroundContactModel.setXYDamping(1000.0); } else { linearGroundContactModel.setZStiffness(2000.0); linearGroundContactModel.setZDamping(1500.0); linearGroundContactModel.setXYStiffness(50000.0); linearGroundContactModel.setXYDamping(2000.0); } }
@Test// timeout=300000 public void testOverflowTwo() { int index = Integer.MAX_VALUE - 2; indexOrderChecker.update(index); int increment = 5; index += increment; indexOrderChecker.update(index); assertEquals(increment - 1, indexOrderChecker.getMissedIndices()); }
public void setupGroundContactModelParameters(LinearGroundContactModel linearGroundContactModel, double simDT) { // The gains were computed for simDT = 0.0001sec. This assumes that the gains should be inversely proportional to the simulation DT. double simDTRef = 0.0001; if (useSoftGroundContactParameters) { double scale = Math.pow(simDTRef / simDT, 0.25); linearGroundContactModel.setZStiffness(4000.0 * scale); linearGroundContactModel.setZDamping(750.0 * scale); linearGroundContactModel.setXYStiffness(50000.0 * scale); linearGroundContactModel.setXYDamping(1000.0 * scale); } else { double scale = Math.pow(simDTRef / simDT, 0.6); linearGroundContactModel.setZStiffness(2000.0 * scale); linearGroundContactModel.setZDamping(1500.0 * scale); linearGroundContactModel.setXYStiffness(50000.0 * scale); linearGroundContactModel.setXYDamping(2000.0 * scale); } }
@Test// timeout=300000 public void testABunch() { assertEquals(0, indexOrderChecker.getMissedIndices()); indexOrderChecker.update(0); assertEquals(0, indexOrderChecker.getMissedIndices()); indexOrderChecker.update(1); assertEquals(0, indexOrderChecker.getMissedIndices()); indexOrderChecker.update(3); assertEquals(1, indexOrderChecker.getMissedIndices()); indexOrderChecker.update(8); assertEquals(5, indexOrderChecker.getMissedIndices()); } }