conflict_resolution
stringlengths 27
16k
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<<<<<<<
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.dataStructures.variable.DoubleYoVariable;
=======
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.robotics.geometry.transformables.Pose;
>>>>>>>
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble; |
<<<<<<<
=======
publishTextToSpeech("created timer behavior");
>>>>>>>
<<<<<<<
=======
publishTextToSpeech("entering timer behavior");
>>>>>>>
<<<<<<<
=======
publishTextToSpeech("leaving timer behavior");
>>>>>>> |
<<<<<<<
import us.ihmc.yoVariables.registry.YoRegistry;
=======
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
>>>>>>>
import us.ihmc.yoVariables.registry.YoRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
<<<<<<<
public WholeBodyFeedbackController(WholeBodyControlCoreToolbox coreToolbox, FeedbackControlCommandList allPossibleCommands,
YoRegistry parentRegistry)
=======
public WholeBodyFeedbackController(WholeBodyControlCoreToolbox coreToolbox, FeedbackControllerTemplate feedbackControllerTemplate,
YoVariableRegistry parentRegistry)
>>>>>>>
public WholeBodyFeedbackController(WholeBodyControlCoreToolbox coreToolbox, FeedbackControllerTemplate feedbackControllerTemplate,
YoRegistry parentRegistry) |
<<<<<<<
try (Scanner s = conn.createScanner(MetadataTable.NAME, Authorizations.EMPTY)) {
s.setRange(MetadataSchema.ReplicationSection.getRange());
for (Entry<Key,Value> entry : s) {
Status status = Status.parseFrom(entry.getValue().get());
log.info("{} {}", entry.getKey().toStringNoTruncate(), ProtobufUtil.toString(status));
Assert.assertFalse("Status record was closed and it should not be", status.getClosed());
}
=======
s = conn.createScanner(MetadataTable.NAME, Authorizations.EMPTY);
s.setRange(MetadataSchema.ReplicationSection.getRange());
for (Entry<Key,Value> entry : s) {
Status status = Status.parseFrom(entry.getValue().get());
log.info(entry.getKey().toStringNoTruncate() + " " + ProtobufUtil.toString(status));
assertFalse("Status record was closed and it should not be", status.getClosed());
>>>>>>>
try (Scanner s = conn.createScanner(MetadataTable.NAME, Authorizations.EMPTY)) {
s.setRange(MetadataSchema.ReplicationSection.getRange());
for (Entry<Key,Value> entry : s) {
Status status = Status.parseFrom(entry.getValue().get());
log.info("{} {}", entry.getKey().toStringNoTruncate(), ProtobufUtil.toString(status));
assertFalse("Status record was closed and it should not be", status.getClosed());
} |
<<<<<<<
ScrewTools.packJointVelocitiesMatrix(jointsInOrder, v);
centroidalMomentumRateTermCalculator.compute();
adotV.set(centroidalMomentumRateTermCalculator.getADotVTerm());
=======
ScrewTools.getJointVelocitiesMatrix(jointsInOrder, v);
if(USE_NUMERICALLY_DIFFERENTIATED_CENTROIDAL_MOMENTUM_MATRIX)
{
centroidalMomentumMatrix.compute();
MatrixYoVariableConversionTools.getFromYoVariables(previousCentroidalMomentumMatrix, yoPreviousCentroidalMomentumMatrix);
MatrixTools.numericallyDifferentiate(centroidalMomentumMatrixDerivative, previousCentroidalMomentumMatrix, centroidalMomentumMatrix.getMatrix(),
controlDT);
MatrixYoVariableConversionTools.storeInYoVariables(previousCentroidalMomentumMatrix, yoPreviousCentroidalMomentumMatrix);
CommonOps.mult(centroidalMomentumMatrixDerivative, v, adotV);
}
else
{
centroidalMomentumRateTermCalculator.compute();
adotV.set(centroidalMomentumRateTermCalculator.getADotVTerm());
}
>>>>>>>
ScrewTools.getJointVelocitiesMatrix(jointsInOrder, v);
centroidalMomentumRateTermCalculator.compute();
adotV.set(centroidalMomentumRateTermCalculator.getADotVTerm()); |
<<<<<<<
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.YoFrameTrajectory3D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
=======
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.AngularMomentumTrajectory;
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.TorqueTrajectory;
import us.ihmc.commons.Epsilons;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.AngularMomentumTrajectory;
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.TorqueTrajectory;
import us.ihmc.commons.Epsilons;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
<<<<<<<
=======
import us.ihmc.robotics.math.trajectories.TrajectoryMathTools;
>>>>>>>
import us.ihmc.robotics.math.trajectories.TrajectoryMathTools;
<<<<<<<
private final FramePoint3D desiredCMP = new FramePoint3D();
private final FrameVector3D desiredCMPVelocity = new FrameVector3D();
=======
private final FramePoint desiredCMP = new FramePoint();
private final FrameVector desiredCMPVelocity = new FrameVector();
private CMPTrajectory cmpTrajectoryReference;
private CoPTrajectory copTrajectoryReference;
private TorqueTrajectory torqueTrajectory;
>>>>>>>
private final FramePoint3D desiredCMP = new FramePoint3D();
private final FrameVector3D desiredCMPVelocity = new FrameVector3D();
private CMPTrajectory cmpTrajectoryReference;
private CoPTrajectory copTrajectoryReference;
private TorqueTrajectory torqueTrajectory;
<<<<<<<
public void getVelocity(FrameVector3D desiredCMPVelocityToPack)
=======
public void getVelocity(FrameVector desiredCMPVelocityToPack)
>>>>>>>
public void getVelocity(FrameVector3D desiredCMPVelocityToPack)
<<<<<<<
public void getLinearData(FramePoint3D positionToPack, FrameVector3D velocityToPack)
=======
public void getLinearData(FramePoint positionToPack, FrameVector velocityToPack)
>>>>>>>
public void getLinearData(FramePoint3D positionToPack, FrameVector3D velocityToPack) |
<<<<<<<
@Test
public void testRequestSnapGoalSteps()
{
FootstepPlanningModule planningModule = new FootstepPlanningModule(getClass().getSimpleName());
double groundHeight = 2.5;
double providedGoalNodeHeights = -1.0;
PlanarRegionsListGenerator planarRegionsListGenerator = new PlanarRegionsListGenerator();
planarRegionsListGenerator.translate(0.0, 0.0, groundHeight);
planarRegionsListGenerator.addRectangle(6.0, 6.0);
FootstepPlannerRequest request = new FootstepPlannerRequest();
Pose3D initialMidFootPose = new Pose3D(0.0, 0.0, groundHeight, 0.0, 0.0, 0.0);
Pose3D goalMidFootPose = new Pose3D(2.0, 0.0, providedGoalNodeHeights, 0.0, 0.0, 0.0);
request.setStartFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), initialMidFootPose);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setRequestedInitialStanceSide(RobotSide.LEFT);
request.setPlanarRegionsList(planarRegionsListGenerator.getPlanarRegionsList());
request.setPlanBodyPath(false);
request.setTimeout(2.0);
// test snap goal steps
request.setSnapGoalSteps(true);
FootstepPlannerOutput plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
FootstepPlan footstepPlan = plannerOutput.getFootstepPlan();
for (int i = 0; i < footstepPlan.getNumberOfSteps(); i++)
{
boolean stepIsAtCorrectHeight = MathTools.epsilonEquals(footstepPlan.getFootstep(i).getSoleFramePose().getZ(), groundHeight, 1e-10);
Assertions.assertTrue(stepIsAtCorrectHeight);
}
// test don't snap goal steps and abort if invalid
goalMidFootPose.setPosition(100.0, 0.0, 0.0);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setSnapGoalSteps(true);
request.setAbortIfGoalStepSnappingFails(true);
plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult() == FootstepPlanningResult.INVALID_GOAL);
// test that not snapping keeps original requested pose
double heightOffset = 0.035;
double rollOffset = -0.2;
goalMidFootPose.setPosition(2.0, 0.0, groundHeight + heightOffset);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.getGoalFootPoses().forEach(pose -> pose.appendRollRotation(rollOffset));
request.setSnapGoalSteps(false);
plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
int planSize = plannerOutput.getFootstepPlan().getNumberOfSteps();
for (int i = 0; i < 2; i++)
{
SimpleFootstep footstep = plannerOutput.getFootstepPlan().getFootstep(planSize - 1 - i);
RobotSide robotSide = footstep.getRobotSide();
boolean stepWasntAdjusted = footstep.getSoleFramePose().epsilonEquals(request.getGoalFootPoses().get(robotSide), 1e-10);
Assertions.assertTrue(stepWasntAdjusted);
}
}
=======
@Test
public void testGoalProximityWhenGoalIsReachable()
{
FootstepPlanningModule planningModule = new FootstepPlanningModule(getClass().getSimpleName());
planningModule.getFootstepPlannerParameters().setReturnBestEffortPlan(true);
PlanarRegionsListGenerator planarRegionsListGenerator = new PlanarRegionsListGenerator();
planarRegionsListGenerator.addRectangle(6.0, 6.0);
FootstepPlannerRequest request = new FootstepPlannerRequest();
Pose3D initialMidFootPose = new Pose3D();
Pose3D goalMidFootPose = new Pose3D(2.0, 0.0, 0.0, 0.5 * Math.PI, 0.0, 0.0);
request.setStartFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), initialMidFootPose);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setRequestedInitialStanceSide(RobotSide.LEFT);
request.setPlanarRegionsList(planarRegionsListGenerator.getPlanarRegionsList());
request.setPlanBodyPath(false);
request.setGoalDistanceProximity(0.3);
request.setGoalYawProximity(0.25 * Math.PI);
request.setTimeout(2.0);
FootstepPlannerOutput plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
}
>>>>>>>
@Test
public void testGoalProximityWhenGoalIsReachable()
{
FootstepPlanningModule planningModule = new FootstepPlanningModule(getClass().getSimpleName());
planningModule.getFootstepPlannerParameters().setReturnBestEffortPlan(true);
PlanarRegionsListGenerator planarRegionsListGenerator = new PlanarRegionsListGenerator();
planarRegionsListGenerator.addRectangle(6.0, 6.0);
FootstepPlannerRequest request = new FootstepPlannerRequest();
Pose3D initialMidFootPose = new Pose3D();
Pose3D goalMidFootPose = new Pose3D(2.0, 0.0, 0.0, 0.5 * Math.PI, 0.0, 0.0);
request.setStartFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), initialMidFootPose);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setRequestedInitialStanceSide(RobotSide.LEFT);
request.setPlanarRegionsList(planarRegionsListGenerator.getPlanarRegionsList());
request.setPlanBodyPath(false);
request.setGoalDistanceProximity(0.3);
request.setGoalYawProximity(0.25 * Math.PI);
request.setTimeout(2.0);
FootstepPlannerOutput plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
}
@Test
public void testRequestSnapGoalSteps()
{
FootstepPlanningModule planningModule = new FootstepPlanningModule(getClass().getSimpleName());
double groundHeight = 2.5;
double providedGoalNodeHeights = -1.0;
PlanarRegionsListGenerator planarRegionsListGenerator = new PlanarRegionsListGenerator();
planarRegionsListGenerator.translate(0.0, 0.0, groundHeight);
planarRegionsListGenerator.addRectangle(6.0, 6.0);
FootstepPlannerRequest request = new FootstepPlannerRequest();
Pose3D initialMidFootPose = new Pose3D(0.0, 0.0, groundHeight, 0.0, 0.0, 0.0);
Pose3D goalMidFootPose = new Pose3D(2.0, 0.0, providedGoalNodeHeights, 0.0, 0.0, 0.0);
request.setStartFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), initialMidFootPose);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setRequestedInitialStanceSide(RobotSide.LEFT);
request.setPlanarRegionsList(planarRegionsListGenerator.getPlanarRegionsList());
request.setPlanBodyPath(false);
request.setTimeout(2.0);
// test snap goal steps
request.setSnapGoalSteps(true);
FootstepPlannerOutput plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
FootstepPlan footstepPlan = plannerOutput.getFootstepPlan();
for (int i = 0; i < footstepPlan.getNumberOfSteps(); i++)
{
boolean stepIsAtCorrectHeight = MathTools.epsilonEquals(footstepPlan.getFootstep(i).getSoleFramePose().getZ(), groundHeight, 1e-10);
Assertions.assertTrue(stepIsAtCorrectHeight);
}
// test don't snap goal steps and abort if invalid
goalMidFootPose.setPosition(100.0, 0.0, 0.0);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.setSnapGoalSteps(true);
request.setAbortIfGoalStepSnappingFails(true);
plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult() == FootstepPlanningResult.INVALID_GOAL);
// test that not snapping keeps original requested pose
double heightOffset = 0.035;
double rollOffset = -0.2;
goalMidFootPose.setPosition(2.0, 0.0, groundHeight + heightOffset);
request.setGoalFootPoses(planningModule.getFootstepPlannerParameters().getIdealFootstepWidth(), goalMidFootPose);
request.getGoalFootPoses().forEach(pose -> pose.appendRollRotation(rollOffset));
request.setSnapGoalSteps(false);
plannerOutput = planningModule.handleRequest(request);
Assertions.assertTrue(plannerOutput.getResult().validForExecution());
int planSize = plannerOutput.getFootstepPlan().getNumberOfSteps();
for (int i = 0; i < 2; i++)
{
SimpleFootstep footstep = plannerOutput.getFootstepPlan().getFootstep(planSize - 1 - i);
RobotSide robotSide = footstep.getRobotSide();
boolean stepWasntAdjusted = footstep.getSoleFramePose().epsilonEquals(request.getGoalFootPoses().get(robotSide), 1e-10);
Assertions.assertTrue(stepWasntAdjusted);
}
} |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.commons.PrintTools;
>>>>>>>
import us.ihmc.commons.PrintTools;
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame; |
<<<<<<<
import org.junit.After;
=======
import org.junit.Test;
>>>>>>>
import org.junit.After;
import org.junit.Test;
<<<<<<<
@After
public void tearDown()
{
ReferenceFrameTools.clearWorldFrameTree();
}
public void testOnStaircase()
{
testOnStaircase(new Vector3D(), true);
}
=======
public abstract boolean assertPlannerReturnedResult();
>>>>>>>
@After
public void tearDown()
{
ReferenceFrameTools.clearWorldFrameTree();
}
public abstract boolean assertPlannerReturnedResult(); |
<<<<<<<
=======
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.screwTheory.SelectionMatrix6D;
>>>>>>>
import us.ihmc.robotics.screwTheory.SelectionMatrix6D;
<<<<<<<
feedbackTermToPack.clipToMaxLength(gains.getMaximumProportionalError());
=======
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(gains.getMaximumProportionalError());
>>>>>>>
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(gains.getMaximumProportionalError());
<<<<<<<
feedbackTermToPack.clipToMaxLength(gains.getMaximumDerivativeError());
=======
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(gains.getMaximumDerivativeError());
>>>>>>>
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(gains.getMaximumDerivativeError());
<<<<<<<
feedbackTermToPack.clipToMaxLength(maximumIntegralError);
=======
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.limitLength(maximumIntegralError);
>>>>>>>
selectionMatrix.applyLinearSelection(feedbackTermToPack);
feedbackTermToPack.clipToMaxLength(maximumIntegralError); |
<<<<<<<
kryoMessager = KryoMessager.createClient(behaviorRegistry.getMessagerAPI(),
"127.0.0.1",
NetworkPorts.BEHAVIOUR_MODULE_PORT.getPort(),
getClass().getSimpleName(),
UPDATE_RATE_MILLIS);
ThreadTools.startAsDaemon(() -> ExceptionTools.handle(kryoMessager::startMessager, DefaultExceptionHandler.RUNTIME_EXCEPTION), "KryoConnect");
=======
BehaviorRegistry behaviorRegistry = BehaviorRegistry.of(LookAndStepBehavior.DEFINITION, TraverseStairsBehavior.DEFINITION);
behaviorMessager = RemoteBehaviorInterface.createForUI(behaviorRegistry, "localhost");
>>>>>>>
behaviorMessager = RemoteBehaviorInterface.createForUI(behaviorRegistry, "localhost");
<<<<<<<
private void startWakeUpToolboxesThread(String robotName)
{
IHMCROS2Publisher<ToolboxStateMessage> fiducialDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
FiducialDetectorToolboxModule.getInputTopic(
robotName));
IHMCROS2Publisher<ToolboxStateMessage> objectDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
ObjectDetectorToolboxModule.getInputTopic(robotName));
new PausablePeriodicThread("ToolboxWaker", 1.0, true, () ->
{
ToolboxStateMessage wakeUpMessage = new ToolboxStateMessage();
wakeUpMessage.setRequestedToolboxState(ToolboxStateMessage.WAKE_UP);
fiducialDetectorPublisher.publish(wakeUpMessage);
objectDetectorPublisher.publish(wakeUpMessage);
}).start();
}
=======
private void startWakeUpToolboxesThread(String robotName)
{
IHMCROS2Publisher<ToolboxStateMessage> fiducialDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
FiducialDetectorToolboxModule.getInputTopic(
robotName));
IHMCROS2Publisher<ToolboxStateMessage> objectDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
ObjectDetectorToolboxModule.getInputTopic(robotName));
new PausablePeriodicThread("ToolboxWaker", 1.0, () ->
{
ToolboxStateMessage wakeUpMessage = new ToolboxStateMessage();
wakeUpMessage.setRequestedToolboxState(ToolboxStateMessage.WAKE_UP);
fiducialDetectorPublisher.publish(wakeUpMessage);
objectDetectorPublisher.publish(wakeUpMessage);
}).start();
}
>>>>>>>
private void startWakeUpToolboxesThread(String robotName)
{
IHMCROS2Publisher<ToolboxStateMessage> fiducialDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
FiducialDetectorToolboxModule.getInputTopic(
robotName));
IHMCROS2Publisher<ToolboxStateMessage> objectDetectorPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node,
ToolboxStateMessage.class,
ObjectDetectorToolboxModule.getInputTopic(robotName));
new PausablePeriodicThread("ToolboxWaker", 1.0, true, () ->
{
ToolboxStateMessage wakeUpMessage = new ToolboxStateMessage();
wakeUpMessage.setRequestedToolboxState(ToolboxStateMessage.WAKE_UP);
fiducialDetectorPublisher.publish(wakeUpMessage);
objectDetectorPublisher.publish(wakeUpMessage);
}).start();
} |
<<<<<<<
import us.ihmc.commonWalkingControlModules.controlModules.pelvis.PelvisOffsetTrajectoryWhileWalking;
=======
import us.ihmc.commonWalkingControlModules.controlModules.foot.ToeSlippingDetector;
>>>>>>>
import us.ihmc.commonWalkingControlModules.controlModules.foot.ToeSlippingDetector;
import us.ihmc.commonWalkingControlModules.controlModules.pelvis.PelvisOffsetTrajectoryWhileWalking; |
<<<<<<<
PrintTools.info("Set: " + copPointName.toString() + " Value: " + copPointsInFoot.get(i).toString());
assert (copPointsInFoot.get(i).getPosition().epsilonEquals(testLocation, Epsilons.ONE_BILLIONTH));
=======
//PrintTools.info("Set: " + copPointName.toString() + " Value: " + copPointsInFoot.get(copPointName).toString());
assert (copPointsInFoot.get(copPointName).getPosition().epsilonEquals(testLocation, Epsilons.ONE_BILLIONTH));
>>>>>>>
//PrintTools.info("Set: " + copPointName.toString() + " Value: " + copPointsInFoot.get(copPointName).toString());
assert (copPointsInFoot.get(i).getPosition().epsilonEquals(testLocation, Epsilons.ONE_BILLIONTH));
<<<<<<<
PrintTools.info("Notset: " + copPointName.toString() + " Value: " + copPointsInFoot.get(i).toString());
assert (copPointsInFoot.get(i).containsNaN());
=======
//PrintTools.info("Notset: " + copPointName.toString() + " Value: " + copPointsInFoot.get(copPointName).toString());
assert (copPointsInFoot.get(copPointName).containsNaN());
>>>>>>>
//PrintTools.info("Notset: " + copPointName.toString() + " Value: " + copPointsInFoot.get(copPointName).toString());
assert (copPointsInFoot.get(i).containsNaN()); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.tuple2D.Point2D;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
import us.ihmc.robotics.geometry.ConvexPolygonScaler;
import us.ihmc.robotics.geometry.FrameConvexPolygon2d;
=======
import us.ihmc.robotics.geometry.ConvexPolygonScaler;
import us.ihmc.robotics.geometry.FrameConvexPolygon2d;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePoint2d;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.robotics.geometry.ConvexPolygonScaler;
import us.ihmc.robotics.geometry.FrameConvexPolygon2d;
<<<<<<<
private FramePoint3D desiredCoPPosition = new FramePoint3D();
private FrameVector3D desiredCoPVelocity = new FrameVector3D();
private FrameVector3D desiredCoPAcceleration = new FrameVector3D();
=======
private FramePoint desiredCoPPosition = new FramePoint();
private FrameVector desiredCoPVelocity = new FrameVector();
private FrameVector desiredCoPAcceleration = new FrameVector();
private FramePoint heldCoPPosition = new FramePoint();
private int footstepIndex = 0;
private int plannedFootstepIndex = -1;
private int numberOfSwingSegments = 10;
private int numberOfTransferSegments = 10;
>>>>>>>
private FramePoint3D desiredCoPPosition = new FramePoint3D();
private FrameVector3D desiredCoPVelocity = new FrameVector3D();
private FrameVector3D desiredCoPAcceleration = new FrameVector3D();
private FramePoint3D heldCoPPosition = new FramePoint3D();
private int footstepIndex = 0;
private int plannedFootstepIndex = -1;
private int numberOfSwingSegments = 10;
private int numberOfTransferSegments = 10;
<<<<<<<
framePointToPack.setIncludingFrame(tempFramePoint2d, 0.0);
=======
if (isConstrainedToMinMaxFlags.get(copPointName))
this.tempDouble = MathTools.clamp(this.tempDouble, minCoPOffsets.get(copPointName).getDoubleValue(), maxCoPOffsets.get(copPointName).getDoubleValue());
framePointToPack.add(this.tempDouble, copOffsets.get(swingSide).get(copPointName).getY());
if (isConstrainedToSupportPolygonFlags.get(copPointName))
constrainInitialCoPPointToSupportPolygon(framePointToPack, copPointName);
>>>>>>>
if (isConstrainedToMinMaxFlags.get(copPointName))
this.tempDouble = MathTools.clamp(this.tempDouble, minCoPOffsets.get(copPointName).getDoubleValue(), maxCoPOffsets.get(copPointName).getDoubleValue());
framePointToPack.add(this.tempDouble, copOffsets.get(swingSide).get(copPointName).getY());
if (isConstrainedToSupportPolygonFlags.get(copPointName))
constrainInitialCoPPointToSupportPolygon(framePointToPack, copPointName);
<<<<<<<
private final FramePoint3D soleFrameOrigin = new FramePoint3D();
private final FrameVector3D soleToSoleFrameVector = new FrameVector3D();
private void computeCoPPointsForSwing(int footstepIndex)
=======
private void setInitialCoPPointToPolygonOrigin(FramePoint2d copPointToPlan, CoPPointName copPointName)
>>>>>>>
private void setInitialCoPPointToPolygonOrigin(FramePoint2D copPointToPlan, CoPPointName copPointName)
<<<<<<<
tempFramePoint2d.setToZero(supportFootPolygon.getReferenceFrame());
tempFramePoint2d.set(supportFootPolygon.getVertex(0));
framePointToPack.setIncludingFrame(tempFramePoint2d, 0.0);
=======
computeCoPPointLocation(tempFramePoint2d, transferCoPPointList[i], upcomingFootstepsData.get(footstepIndex).getSupportSide());
tempFramePoint.setXYIncludingFrame(tempFramePoint2d);
copLocationWaypoints.get(copLocationsIndex).addAndSetIncludingFrame(transferCoPPointList[i], getTransferSegmentTimes(i), tempFramePoint);
>>>>>>>
computeCoPPointLocation(tempFramePoint2d, transferCoPPointList[i], upcomingFootstepsData.get(footstepIndex).getSupportSide());
tempFramePoint.setIncludingFrame(tempFramePoint2d, 0.0);
copLocationWaypoints.get(copLocationsIndex).addAndSetIncludingFrame(transferCoPPointList[i], getTransferSegmentTimes(i), tempFramePoint);
<<<<<<<
putExitCoPOnToes(tempFramePoint2d, supportFootPolygon, copOffsets.get(supportSide).get(exitCoPName).getY());
framePointToPack.setIncludingFrame(tempFramePoint2d, 0.0);
=======
case 0:
return transferDurations.get(footstepIndex).getDoubleValue() * transferSplitFractions.get(footstepIndex).getDoubleValue();
case 1:
return transferDurations.get(footstepIndex).getDoubleValue() * (1.0 - transferSplitFractions.get(footstepIndex).getDoubleValue());
default:
throw new RuntimeException("For some reason we didn't just use a array that summed to one");
>>>>>>>
case 0:
return transferDurations.get(footstepIndex).getDoubleValue() * transferSplitFractions.get(footstepIndex).getDoubleValue();
case 1:
return transferDurations.get(footstepIndex).getDoubleValue() * (1.0 - transferSplitFractions.get(footstepIndex).getDoubleValue());
default:
throw new RuntimeException("For some reason we didn't just use a array that summed to one");
<<<<<<<
putExitCoPOnToes(tempFramePoint2d, supportFootPolygon, 0.0);
framePointToPack.setIncludingFrame(tempFramePoint2d, 0.0);
=======
computeCoPPointLocation(tempFramePoint2d, swingCoPPointList[i], upcomingFootstepsData.get(footstepIndex).getSupportSide());
tempFramePoint.setXYIncludingFrame(tempFramePoint2d);
copLocationWaypoints.get(copLocationsIndex).addAndSetIncludingFrame(swingCoPPointList[i], getSwingSegmentTimes(i), tempFramePoint);
>>>>>>>
computeCoPPointLocation(tempFramePoint2d, swingCoPPointList[i], upcomingFootstepsData.get(footstepIndex).getSupportSide());
tempFramePoint.setIncludingFrame(tempFramePoint2d, 0.0);
copLocationWaypoints.get(copLocationsIndex).addAndSetIncludingFrame(swingCoPPointList[i], getSwingSegmentTimes(i), tempFramePoint);
<<<<<<<
private void computeCoPPointLocation(FramePoint3D framePointToPack, CoPPointName copPointName, RobotSide supportSide)
=======
private void computeCoPPointLocation(FramePoint2d copPointToPlan, CoPPointName copPointName, RobotSide supportSide)
>>>>>>>
private void computeCoPPointLocation(FramePoint2D copPointToPlan, CoPPointName copPointName, RobotSide supportSide)
<<<<<<<
constrainCoPPointToSupportPolygon(tempFramePoint2d, copPointName);
framePointToPack.setIncludingFrame(tempFramePoint2d, 0.0);
=======
constrainCoPPointToSupportPolygon(copPointToPlan, copPointName);
>>>>>>>
constrainCoPPointToSupportPolygon(copPointToPlan, copPointName);
<<<<<<<
private void setCoPPointToPolygonOrigin(FramePoint2D copPointToPlan, CoPPointName copPointName)
=======
private void setCoPPointInPolygon(FramePoint2d copPointToPlan, CoPPointName copPointName)
>>>>>>>
private void setCoPPointInPolygon(FramePoint2D copPointToPlan, CoPPointName copPointName)
<<<<<<<
private void putExitCoPOnToes(FramePoint2D exitCMPToPack, FrameConvexPolygon2d footSupportPolygon, double exitCMPInsideOffset)
=======
/**
* Constrains the specified CoP point to a safe distance within the specified support polygon by projection
* @param copPointToConstrain
* @param supportFoot
* @param safeDistanceFromSupportPolygonEdges
*/
private void constrainToPolygon(FramePoint2d copPointToConstrain, FrameConvexPolygon2d supportPolygon, double safeDistanceFromSupportPolygonEdges)
>>>>>>>
/**
* Constrains the specified CoP point to a safe distance within the specified support polygon by projection
* @param copPointToConstrain
* @param supportFoot
* @param safeDistanceFromSupportPolygonEdges
*/
private void constrainToPolygon(FramePoint2D copPointToConstrain, FrameConvexPolygon2d supportPolygon, double safeDistanceFromSupportPolygonEdges)
<<<<<<<
private void constrainToSupportPolygon(FramePoint2D copPointToConstrain, FrameConvexPolygon2d supportPolygon, double safeDistanceFromSupportPolygonEdges)
=======
private void updateDoubleSupportPolygon(FrameConvexPolygon2d supportFootPolygon, FrameConvexPolygon2d swingFootPolygon)
>>>>>>>
private void updateDoubleSupportPolygon(FrameConvexPolygon2d supportFootPolygon, FrameConvexPolygon2d swingFootPolygon)
<<<<<<<
double finalTime = timeInState + currentPoint.getTime();
FramePoint3D waypoint = currentPoint.getPosition().getFrameTuple();
if (trajectoryType == WalkingTrajectoryType.SWING)
=======
else if (copList.get(segmentIndex) == exitCoPName && copList.size() == segmentIndex + 1)
>>>>>>>
else if (copList.get(segmentIndex) == exitCoPName && copList.size() == segmentIndex + 1) |
<<<<<<<
private final YoFrameVector centerOfMassVelocity = new YoFrameVector("centerOfMassVelocity", ReferenceFrame.getWorldFrame(), registry);
private final YoFrameVector angularMomentum = new YoFrameVector("angularMomentum", ReferenceFrame.getWorldFrame(), registry);
private final YoFramePoint instantaneousCapturePoint = new YoFramePoint("instantaneousCapturePoint", ReferenceFrame.getWorldFrame(), registry);
=======
>>>>>>>
private final YoFrameVector centerOfMassVelocity = new YoFrameVector("centerOfMassVelocity", ReferenceFrame.getWorldFrame(), registry);
private final YoFrameVector angularMomentum = new YoFrameVector("angularMomentum", ReferenceFrame.getWorldFrame(), registry);
private final YoFramePoint instantaneousCapturePoint = new YoFramePoint("instantaneousCapturePoint", ReferenceFrame.getWorldFrame(), registry);
<<<<<<<
YoGraphicPosition comPositionYoGraphic = new YoGraphicPosition("CenterOfMass", centerOfMass, 0.006, YoAppearance.Black(), GraphicType.CROSS);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", comPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", comPositionYoGraphic.createArtifact());
/*
* New variables for ICP computing
*/
YoGraphicPosition icpPositionYoGraphic = new YoGraphicPosition("InstantaneousCapturePoint", instantaneousCapturePoint, 0.01, YoAppearance.Blue(),
GraphicType.ROTATED_CROSS);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", icpPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", icpPositionYoGraphic.createArtifact());
YoGraphicPosition footPositionYoGraphic = new YoGraphicPosition("Foot", footLocation, 0.006, YoAppearance.Purple(), GraphicType.BALL);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", footPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", footPositionYoGraphic.createArtifact());
=======
YoGraphicPosition comPositionYoGraphic = new YoGraphicPosition("CenterOfMass", centerOfMass, 0.02, YoAppearance.Black(), GraphicType.BALL_WITH_CROSS);
yoGraphicsListRegistries.registerYoGraphic("ICP", comPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("ICP", comPositionYoGraphic.createArtifact());
>>>>>>>
YoGraphicPosition comPositionYoGraphic = new YoGraphicPosition("CenterOfMass", centerOfMass, 0.006, YoAppearance.Black(), GraphicType.CROSS);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", comPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", comPositionYoGraphic.createArtifact());
/*
* New variables for ICP computing
*/
YoGraphicPosition icpPositionYoGraphic = new YoGraphicPosition("InstantaneousCapturePoint", instantaneousCapturePoint, 0.01, YoAppearance.Blue(),
GraphicType.ROTATED_CROSS);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", icpPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", icpPositionYoGraphic.createArtifact());
YoGraphicPosition footPositionYoGraphic = new YoGraphicPosition("Foot", footLocation, 0.006, YoAppearance.Purple(), GraphicType.BALL);
yoGraphicsListRegistries.registerYoGraphic("instantaneousCapturePoint", footPositionYoGraphic);
yoGraphicsListRegistries.registerArtifact("instantaneousCapturePoint", footPositionYoGraphic.createArtifact());
<<<<<<<
private void computeInstantaneousCapturePoint()
{
z0.set(1.0);
double w0 = Math.sqrt(z0.getDoubleValue() / Math.abs(robot.getGravityt()));
instantaneousCapturePoint.set(centerOfMassVelocity);
instantaneousCapturePoint.scaleAdd(w0, centerOfMass);
instantaneousCapturePoint.setZ(0.0);
}
=======
>>>>>>>
private void computeInstantaneousCapturePoint()
{
z0.set(1.0);
double w0 = Math.sqrt(z0.getDoubleValue() / Math.abs(robot.getGravityt()));
instantaneousCapturePoint.set(centerOfMassVelocity);
instantaneousCapturePoint.scaleAdd(w0, centerOfMass);
instantaneousCapturePoint.setZ(0.0);
}
<<<<<<<
/*
* *****NEW*****
* Variable to compute CoM speed
*/
footToLastCoMLocation.set(tempFootToCoM.getVectorCopy());
lastCoMLocation.set(tempCoMLocation);
=======
>>>>>>>
footToLastCoMLocation.set(tempFootToCoM.getVectorCopy());
lastCoMLocation.set(tempCoMLocation);
<<<<<<<
return true; //time > 0.2;
=======
return time < 0.1 && time > 0.09;
>>>>>>>
return true; //time > 0.2; |
<<<<<<<
=======
public RigidBodyTransform getLidarToSensorTransform(String lidarName)
{
return fullRobotModel.getLidarBaseToSensorTransform(lidarName);
}
@Override
public ReferenceFrame getLidarFrame(String lidarName)
{
return fullRobotModel.getLidarBaseFrame(lidarName);
}
public InverseDynamicsJoint getLidarJoint(String lidarName)
{
return fullRobotModel.getLidarJoint(lidarName);
}
>>>>>>>
public RigidBodyTransform getLidarToSensorTransform(String lidarName)
{
return fullRobotModel.getLidarBaseToSensorTransform(lidarName);
}
public ReferenceFrame getLidarFrame(String lidarName)
{
return fullRobotModel.getLidarBaseFrame(lidarName);
}
public InverseDynamicsJoint getLidarJoint(String lidarName)
{
return fullRobotModel.getLidarJoint(lidarName);
} |
<<<<<<<
=======
import java.io.UnsupportedEncodingException;
import java.lang.reflect.Method;
import java.net.InetAddress;
import java.net.URLDecoder;
import java.net.URLEncoder;
import java.nio.ByteBuffer;
import java.util.ArrayList;
>>>>>>>
<<<<<<<
=======
import org.apache.accumulo.core.client.mock.MockInstance;
import org.apache.accumulo.core.client.security.tokens.AuthenticationToken;
import org.apache.accumulo.core.client.security.tokens.PasswordToken;
>>>>>>>
<<<<<<<
=======
protected void setupIterators(List<IteratorSetting> iterators, Scanner scanner) {
for (IteratorSetting iterator : iterators) {
scanner.addScanIterator(iterator);
}
}
/**
* Initialize a scanner over the given input split using this task attempt configuration.
*/
@Override
public void initialize(InputSplit inSplit, TaskAttemptContext attempt) throws IOException {
Scanner scanner;
split = (RangeInputSplit) inSplit;
log.debug("Initializing input split: " + split.getRange());
Instance instance = split.getInstance();
if (null == instance) {
instance = getInstance(attempt);
}
String principal = split.getPrincipal();
if (null == principal) {
principal = getPrincipal(attempt);
}
AuthenticationToken token = split.getToken();
if (null == token) {
String tokenClass = getTokenClass(attempt);
byte[] tokenBytes = getToken(attempt);
try {
token = CredentialHelper.extractToken(tokenClass, tokenBytes);
} catch (AccumuloSecurityException e) {
throw new IOException(e);
}
}
Authorizations authorizations = split.getAuths();
if (null == authorizations) {
authorizations = getScanAuthorizations(attempt);
}
String table = split.getTable();
if (null == table) {
table = getInputTableName(attempt);
}
Boolean isOffline = split.isOffline();
if (null == isOffline) {
isOffline = isOfflineScan(attempt);
}
Boolean isIsolated = split.isIsolatedScan();
if (null == isIsolated) {
isIsolated = isIsolated(attempt);
}
Boolean usesLocalIterators = split.usesLocalIterators();
if (null == usesLocalIterators) {
usesLocalIterators = usesLocalIterators(attempt);
}
List<IteratorSetting> iterators = split.getIterators();
if (null == iterators) {
iterators = getIterators(attempt);
}
Set<Pair<Text,Text>> columns = split.getFetchedColumns();
if (null == columns) {
columns = getFetchedColumns(attempt);
}
try {
log.debug("Creating connector with user: " + principal);
Connector conn = instance.getConnector(principal, token);
log.debug("Creating scanner for table: " + table);
log.debug("Authorizations are: " + authorizations);
if (isOfflineScan(attempt)) {
String tokenClass = token.getClass().getCanonicalName();
ByteBuffer tokenBuffer = ByteBuffer.wrap(CredentialHelper.toBytes(token));
scanner = new OfflineScanner(instance, new TCredentials(principal, tokenClass, tokenBuffer, instance.getInstanceID()), Tables.getTableId(
instance, table), authorizations);
} else {
scanner = conn.createScanner(table, authorizations);
}
if (isIsolated) {
log.info("Creating isolated scanner");
scanner = new IsolatedScanner(scanner);
}
if (usesLocalIterators) {
log.info("Using local iterators");
scanner = new ClientSideIteratorScanner(scanner);
}
setupIterators(iterators, scanner);
} catch (Exception e) {
throw new IOException(e);
}
// setup a scanner within the bounds of this split
for (Pair<Text,Text> c : columns) {
if (c.getSecond() != null) {
log.debug("Fetching column " + c.getFirst() + ":" + c.getSecond());
scanner.fetchColumn(c.getFirst(), c.getSecond());
} else {
log.debug("Fetching column family " + c.getFirst());
scanner.fetchColumnFamily(c.getFirst());
}
}
scanner.setRange(split.getRange());
numKeysRead = 0;
// do this last after setting all scanner options
scannerIterator = scanner.iterator();
}
@Override
public void close() {}
@Override
public float getProgress() throws IOException {
if (numKeysRead > 0 && currentKey == null)
return 1.0f;
return split.getProgress(currentKey);
}
protected K currentK = null;
protected V currentV = null;
protected Key currentKey = null;
protected Value currentValue = null;
@Override
public K getCurrentKey() throws IOException, InterruptedException {
return currentK;
}
>>>>>>> |
<<<<<<<
import java.util.ArrayList;
import java.util.Collection;
=======
>>>>>>>
import java.util.ArrayList;
import java.util.Collection;
<<<<<<<
import us.ihmc.commonWalkingControlModules.configurations.ICPTrajectoryPlannerParameters;
=======
import us.ihmc.commonWalkingControlModules.configurations.ParameterTools;
>>>>>>>
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelState;
=======
import us.ihmc.humanoidRobotics.communication.controllerAPI.command.FootTrajectoryCommand;
import us.ihmc.humanoidRobotics.communication.controllerAPI.command.FootstepDataCommand;
import us.ihmc.humanoidRobotics.communication.controllerAPI.command.FootstepDataListCommand;
import us.ihmc.communication.packets.ExecutionMode;
import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
<<<<<<<
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.GenericStateMachine;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.State;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateChangedListener;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateTransition;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateTransitionCondition;
=======
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.*;
import us.ihmc.robotics.trajectories.TrajectoryType;
>>>>>>>
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.GenericStateMachine;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.State;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateChangedListener;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateTransition;
import us.ihmc.robotics.stateMachines.conditionBasedStateMachine.StateTransitionCondition; |
<<<<<<<
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
=======
import us.ihmc.euclid.tuple3D.Point3D;
>>>>>>>
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
import us.ihmc.euclid.tuple3D.Point3D; |
<<<<<<<
import us.ihmc.robotics.math.frames.YoFramePoint;
=======
>>>>>>>
import us.ihmc.robotics.math.frames.YoFramePoint;
<<<<<<<
=======
>>>>>>>
<<<<<<<
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
=======
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
>>>>>>>
referenceICPGenerator.getLinearData(desiredICPPosition, desiredICPVelocity, desiredICPAcceleration);
<<<<<<<
=======
private final FramePoint tempFinalICP = new FramePoint();
>>>>>>>
private final FramePoint tempFinalICP = new FramePoint();
<<<<<<<
public void getEstimatedCoM(YoFramePoint estCoM, double time)
{
FramePoint a = new FramePoint();
estimatedAMGenerator.getCoMPosition(a, time);
estCoM.set(a);
}
public void getEstimatedSwFoot(YoFramePoint estSwFoot, double time)
{
FramePoint a = new FramePoint();
estimatedAMGenerator.getSwingFootPosition(a, time);
estSwFoot.set(a);
}
=======
public int getTotalNumberOfSegments()
{
return referenceICPGenerator.getTotalNumberOfSegments();
}
>>>>>>>
public void getEstimatedCoM(YoFramePoint estCoM, double time)
{
FramePoint a = new FramePoint();
estimatedAMGenerator.getCoMPosition(a, time);
estCoM.set(a);
}
public void getEstimatedSwFoot(YoFramePoint estSwFoot, double time)
{
FramePoint a = new FramePoint();
estimatedAMGenerator.getSwingFootPosition(a, time);
estSwFoot.set(a);
}
public int getTotalNumberOfSegments()
{
return referenceICPGenerator.getTotalNumberOfSegments();
} |
<<<<<<<
import us.ihmc.atlas.sensors.AtlasSLAMBasedREAStandaloneLauncher;
=======
>>>>>>>
<<<<<<<
import us.ihmc.communication.ROS2Tools;
=======
>>>>>>>
<<<<<<<
import us.ihmc.avatar.environments.BehaviorPlanarRegionEnvironments;
=======
>>>>>>>
<<<<<<<
import us.ihmc.ros2.Ros2Node;
=======
>>>>>>>
<<<<<<<
ThreadTools.startAsDaemon(this::perceptionStack, "PerceptionStack");
ThreadTools.startAsDaemon(USE_DYNAMICS_SIMULATION ? this::dynamicsSimulation : this::kinematicSimulation, "Simulation");
=======
ThreadTools.startAsDaemon(() -> new AtlasPerceptionSimulation(communicationMode,
environmentInitialSetup.getPlanarRegionsSupplier().get(),
RUN_REALSENSE_SLAM,
createRobotModel()),
"REAModule");
ThreadTools.startAsDaemon(simulation, "Simulation");
>>>>>>>
ThreadTools.startAsDaemon(() -> new AtlasPerceptionSimulation(communicationMode,
environmentInitialSetup.getPlanarRegionsSupplier().get(),
RUN_REALSENSE_SLAM,
createRobotModel()),
"REAModule");
ThreadTools.startAsDaemon(simulation, "Simulation");
<<<<<<<
private void perceptionStack()
{
LogTools.info("Creating simulated multisense stereo regions module");
Ros2Node ros2Node = ROS2Tools.createRos2Node(communicationMode.getPubSubImplementation(), "look_and_step_perception");
MultisenseHeadStereoSimulator multisense = new MultisenseHeadStereoSimulator(environmentInitialSetup.getPlanarRegionsSupplier().get(),
createRobotModel(),
ros2Node);
RealsensePelvisSimulator realsense = new RealsensePelvisSimulator(environmentInitialSetup.getPlanarRegionsSupplier().get(), createRobotModel(), ros2Node);
// might be a weird delay with threads at 0.5 hz depending on each other
double period = 1.0;
new PeriodicPlanarRegionPublisher(ros2Node, ROS2Tools.LIDAR_REA_REGIONS, period, multisense).start(); // TODO: Disable while not in use?
if (RUN_REALSENSE_SLAM)
{
new PeriodicPointCloudPublisher(ros2Node, ROS2Tools.D435_POINT_CLOUD, period, realsense::getPointCloud, realsense::getSensorPose).start();
new AtlasSLAMBasedREAStandaloneLauncher(SHOW_REALSENSE_SLAM_UIS, communicationMode.getPubSubImplementation());
}
else
{
PlanarRegionSLAMMapper realsenseSLAM = new PlanarRegionSLAMMapper();
new PeriodicPlanarRegionPublisher(ros2Node, ROS2Tools.REALSENSE_SLAM_REGIONS, period, () -> realsenseSLAM.update(realsense.get())).start();
}
}
=======
>>>>>>> |
<<<<<<<
=======
import us.ihmc.robotModels.FullHumanoidRobotModel;
import us.ihmc.robotics.geometry.FramePoint3D;
>>>>>>>
import us.ihmc.robotModels.FullHumanoidRobotModel; |
<<<<<<<
import java.util.ArrayList;
=======
>>>>>>> |
<<<<<<<
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testLogAndExpAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Quat4d qLog = new Quat4d();
Quat4d vExp = new Quat4d();
quaternionCalculus.log(q, qLog);
Vector3d v = new Vector3d(qLog.getX(),qLog.getY(),qLog.getZ());
quaternionCalculus.exp(v, vExp);
assertTrue(Math.abs(q.getX() - vExp.getX()) < 10e-10);
assertTrue(Math.abs(q.getY() - vExp.getY()) < 10e-10);
assertTrue(Math.abs(q.getZ() - vExp.getZ()) < 10e-10);
assertTrue(Math.abs(q.getW() - vExp.getW()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
=======
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
>>>>>>>
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
public void testLogAndExpAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Quat4d qLog = new Quat4d();
Quat4d vExp = new Quat4d();
quaternionCalculus.log(q, qLog);
Vector3d v = new Vector3d(qLog.getX(),qLog.getY(),qLog.getZ());
quaternionCalculus.exp(v, vExp);
assertTrue(Math.abs(q.getX() - vExp.getX()) < 10e-10);
assertTrue(Math.abs(q.getY() - vExp.getY()) < 10e-10);
assertTrue(Math.abs(q.getZ() - vExp.getZ()) < 10e-10);
assertTrue(Math.abs(q.getW() - vExp.getW()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
<<<<<<<
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testFDSimpleCase() throws Exception
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Random random = new Random(65265L);
double integrationTime = 1.0;
double angleVelocity = RandomTools.generateRandomDouble(random, 0.0, 2.0 * Math.PI) / integrationTime;
Vector3d expectedAngularVelocity = new Vector3d(angleVelocity, 0.0, 0.0);
Vector3d expectedAngularAcceleration = new Vector3d();
AxisAngle4d axisAnglePrevious = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleCurrent = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleNext = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
Quat4d qPrevious = new Quat4d();
Quat4d qCurrent = new Quat4d();
Quat4d qNext = new Quat4d();
Quat4d qDot = new Quat4d();
Quat4d qDDot = new Quat4d();
Vector3d actualAngularVelocity = new Vector3d();
Vector3d actualAngularAcceleration = new Vector3d();
double dt = 1.0e-4;
for (double time = dt; time < integrationTime; time += dt)
{
axisAnglePrevious.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time - dt)) - Math.PI);
qPrevious.set(axisAnglePrevious);
axisAngleCurrent.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * time) - Math.PI);
qCurrent.set(axisAngleCurrent);
axisAngleNext.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time + dt)) - Math.PI);
qNext.set(axisAngleNext);
quaternionCalculus.computeQDotByFiniteDifferenceCentral(qPrevious, qNext, dt, qDot);
quaternionCalculus.computeAngularVelocityInWorldFrame(qCurrent, qDot, actualAngularVelocity);
quaternionCalculus.computeQDDotByFiniteDifferenceCentral(qPrevious, qCurrent, qNext, dt, qDDot);
quaternionCalculus.computeAngularAcceleration(qCurrent, qDot, qDDot, actualAngularAcceleration);
boolean sameVelocity = expectedAngularVelocity.epsilonEquals(actualAngularVelocity, 1.0e-7);
if (!sameVelocity)
{
System.out.println("Expected angular velocity: " + expectedAngularVelocity);
System.out.println("Actual angular velocity: " + actualAngularVelocity);
}
assertTrue(sameVelocity);
assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, 1.0e-7));
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
=======
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
>>>>>>>
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
public void testFDSimpleCase() throws Exception
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Random random = new Random(65265L);
double integrationTime = 1.0;
double angleVelocity = RandomTools.generateRandomDouble(random, 0.0, 2.0 * Math.PI) / integrationTime;
Vector3d expectedAngularVelocity = new Vector3d(angleVelocity, 0.0, 0.0);
Vector3d expectedAngularAcceleration = new Vector3d();
AxisAngle4d axisAnglePrevious = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleCurrent = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleNext = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
Quat4d qPrevious = new Quat4d();
Quat4d qCurrent = new Quat4d();
Quat4d qNext = new Quat4d();
Quat4d qDot = new Quat4d();
Quat4d qDDot = new Quat4d();
Vector3d actualAngularVelocity = new Vector3d();
Vector3d actualAngularAcceleration = new Vector3d();
double dt = 1.0e-4;
for (double time = dt; time < integrationTime; time += dt)
{
axisAnglePrevious.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time - dt)) - Math.PI);
qPrevious.set(axisAnglePrevious);
axisAngleCurrent.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * time) - Math.PI);
qCurrent.set(axisAngleCurrent);
axisAngleNext.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time + dt)) - Math.PI);
qNext.set(axisAngleNext);
quaternionCalculus.computeQDotByFiniteDifferenceCentral(qPrevious, qNext, dt, qDot);
quaternionCalculus.computeAngularVelocityInWorldFrame(qCurrent, qDot, actualAngularVelocity);
quaternionCalculus.computeQDDotByFiniteDifferenceCentral(qPrevious, qCurrent, qNext, dt, qDDot);
quaternionCalculus.computeAngularAcceleration(qCurrent, qDot, qDDot, actualAngularAcceleration);
boolean sameVelocity = expectedAngularVelocity.epsilonEquals(actualAngularVelocity, 1.0e-7);
if (!sameVelocity)
{
System.out.println("Expected angular velocity: " + expectedAngularVelocity);
System.out.println("Actual angular velocity: " + actualAngularVelocity);
}
assertTrue(sameVelocity);
assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, 1.0e-7));
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000) |
<<<<<<<
protected final YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
private StraightLegWalkingParameters straightLegWalkingParameters;
=======
private final LegConfigurationParameters legConfigurationParameters;
private final JointPrivilegedConfigurationParameters jointPrivilegedConfigurationParameters;
private final DynamicReachabilityParameters dynamicReachabilityParameters;
private final PelvisOffsetWhileWalkingParameters pelvisOffsetWhileWalkingParameters;
private final LeapOfFaithParameters leapOfFaithParameters;
public WalkingControllerParameters()
{
jointPrivilegedConfigurationParameters = new JointPrivilegedConfigurationParameters();
dynamicReachabilityParameters = new DynamicReachabilityParameters();
pelvisOffsetWhileWalkingParameters = new PelvisOffsetWhileWalkingParameters();
leapOfFaithParameters = new LeapOfFaithParameters();
legConfigurationParameters = new LegConfigurationParameters();
}
>>>>>>>
protected final YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
private final LegConfigurationParameters legConfigurationParameters;
private final JointPrivilegedConfigurationParameters jointPrivilegedConfigurationParameters;
private final DynamicReachabilityParameters dynamicReachabilityParameters;
private final PelvisOffsetWhileWalkingParameters pelvisOffsetWhileWalkingParameters;
private final LeapOfFaithParameters leapOfFaithParameters;
public WalkingControllerParameters()
{
jointPrivilegedConfigurationParameters = new JointPrivilegedConfigurationParameters();
dynamicReachabilityParameters = new DynamicReachabilityParameters();
pelvisOffsetWhileWalkingParameters = new PelvisOffsetWhileWalkingParameters();
leapOfFaithParameters = new LeapOfFaithParameters();
legConfigurationParameters = new LegConfigurationParameters();
}
<<<<<<<
public YoVariableRegistry getRegistry()
{
return registry;
}
=======
public LeapOfFaithParameters getLeapOfFaithParameters()
{
return leapOfFaithParameters;
}
public abstract ToeOffParameters getToeOffParameters();
public abstract SwingTrajectoryParameters getSwingTrajectoryParameters();
/**
* Used by the UI for head and chest trajectories.
*/
public double getDefaultTrajectoryTime()
{
return 3.0;
}
>>>>>>>
public LeapOfFaithParameters getLeapOfFaithParameters()
{
return leapOfFaithParameters;
}
public abstract ToeOffParameters getToeOffParameters();
public abstract SwingTrajectoryParameters getSwingTrajectoryParameters();
/**
* Used by the UI for head and chest trajectories.
*/
public double getDefaultTrajectoryTime()
{
return 3.0;
}
public YoVariableRegistry getRegistry()
{
return registry;
} |
<<<<<<<
import us.ihmc.aware.config.DoubleArrayParameter;
import us.ihmc.aware.config.DoubleParameter;
import us.ihmc.aware.config.ParameterFactory;
import us.ihmc.aware.config.ParameterPacketListener;
import us.ihmc.aware.config.ParameterRegistry;
=======
>>>>>>>
import us.ihmc.aware.config.DoubleArrayParameter;
import us.ihmc.aware.config.DoubleParameter;
import us.ihmc.aware.config.ParameterFactory;
<<<<<<<
import us.ihmc.simulationconstructionset.yoUtilities.graphics.YoGraphicsListRegistry;
=======
>>>>>>>
<<<<<<<
private final YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
public QuadrupedVirtualModelBasedTrotController(QuadrupedRuntimeEnvironment runtimeEnvironment, QuadrupedRobotParameters robotParameters,
QuadrupedControllerInputProviderInterface inputProvider, QuadrupedReferenceFrames referenceFrames, QuadrupedTaskSpaceEstimator taskSpaceEstimator,
QuadrupedTaskSpaceController taskSpaceController)
=======
public QuadrupedVirtualModelBasedTrotController(QuadrupedRuntimeEnvironment runtimeEnvironment, ParameterMapRepository parameterMapRepository,
QuadrupedControllerInputProviderInterface inputProvider, QuadrupedForceControllerContext controllerContext)
>>>>>>>
public QuadrupedVirtualModelBasedTrotController(QuadrupedRuntimeEnvironment runtimeEnvironment, QuadrupedControllerInputProviderInterface inputProvider,
QuadrupedForceControllerContext controllerContext)
<<<<<<<
=======
// parameters
this.params = parameterMapRepository.get(QuadrupedVirtualModelBasedTrotController.class);
params.setDefault(JOINT_DAMPING, 2);
params.setDefault(BODY_ORIENTATION_PROPORTIONAL_GAINS, 5000, 5000, 5000);
params.setDefault(BODY_ORIENTATION_DERIVATIVE_GAINS, 750, 750, 750);
params.setDefault(BODY_ORIENTATION_INTEGRAL_GAINS, 0, 0, 0);
params.setDefault(BODY_ORIENTATION_MAX_INTEGRAL_ERROR, 0);
params.setDefault(COM_POSITION_PROPORTIONAL_GAINS, 0, 0, 5000);
params.setDefault(COM_POSITION_DERIVATIVE_GAINS, 0, 0, 750);
params.setDefault(COM_POSITION_INTEGRAL_GAINS, 0, 0, 0);
params.setDefault(COM_POSITION_MAX_INTEGRAL_ERROR, 0);
params.setDefault(DCM_POSITION_PROPORTIONAL_GAINS, 1, 1, 0);
params.setDefault(DCM_POSITION_DERIVATIVE_GAINS, 0, 0, 0);
params.setDefault(DCM_POSITION_INTEGRAL_GAINS, 0, 0, 0);
params.setDefault(DCM_POSITION_MAX_INTEGRAL_ERROR, 0);
params.setDefault(SWING_POSITION_PROPORTIONAL_GAINS, 50000, 50000, 100000);
params.setDefault(SWING_POSITION_DERIVATIVE_GAINS, 500, 500, 500);
params.setDefault(SWING_POSITION_INTEGRAL_GAINS, 0, 0, 0);
params.setDefault(SWING_POSITION_MAX_INTEGRAL_ERROR, 0);
params.setDefault(SWING_TRAJECTORY_GROUND_CLEARANCE, 0.10);
params.setDefault(QUAD_SUPPORT_DURATION, 1.00);
params.setDefault(DOUBLE_SUPPORT_DURATION, 0.33);
params.setDefault(STANCE_WIDTH_NOMINAL, 0.35);
params.setDefault(STANCE_LENGTH_NOMINAL, 1.1);
params.setDefault(NO_CONTACT_PRESSURE_LIMIT, 75);
>>>>>>>
<<<<<<<
}
private void computeNominalDcmPositionAtEoS(FramePoint nominalCmpPositionAtSoS, FramePoint nominalCmpPositionAtEoS, FramePoint nominalDcmPositionAtEoS)
{
computeNominalPeriodicDcmTrajectory(nominalCmpPositionAtSoS, nominalCmpPositionAtEoS);
double timeAtEoS = doubleSupportDurationProperty.get();
=======
>>>>>>>
<<<<<<<
double xStance = robotQuadrant.getEnd().negateIfHindEnd(stanceLengthNominalProperty.get() / 2);
double yStance = robotQuadrant.getSide().negateIfRightSide(stanceWidthNominalProperty.get() / 2);
xOffset = Math.cos(bodyYaw) * xStance - Math.sin(bodyYaw) * yStance;
yOffset = Math.sin(bodyYaw) * xStance + Math.cos(bodyYaw) * yStance;
=======
double xStance = robotQuadrant.getEnd().negateIfHindEnd(params.get(STANCE_LENGTH_NOMINAL) / 2);
double yStance = robotQuadrant.getSide().negateIfRightSide(params.get(STANCE_WIDTH_NOMINAL) / 2);
double xOffset = Math.cos(bodyYaw) * xStance - Math.sin(bodyYaw) * yStance;
double yOffset = Math.sin(bodyYaw) * xStance + Math.cos(bodyYaw) * yStance;
>>>>>>>
double xStance = robotQuadrant.getEnd().negateIfHindEnd(stanceLengthNominalProperty.get() / 2);
double yStance = robotQuadrant.getSide().negateIfRightSide(stanceWidthNominalProperty.get() / 2);
double xOffset = Math.cos(bodyYaw) * xStance - Math.sin(bodyYaw) * yStance;
double yOffset = Math.sin(bodyYaw) * xStance + Math.cos(bodyYaw) * yStance; |
<<<<<<<
import org.apache.accumulo.core.client.impl.CompressedIterators.IterConfig;
import org.apache.accumulo.core.client.impl.DurabilityImpl;
=======
>>>>>>>
import org.apache.accumulo.core.client.impl.DurabilityImpl;
<<<<<<<
=======
import org.apache.accumulo.trace.instrument.Span;
import org.apache.accumulo.trace.instrument.Trace;
import org.apache.accumulo.trace.thrift.TInfo;
import org.apache.accumulo.tserver.Compactor.CompactionInfo;
import org.apache.accumulo.tserver.ConditionCheckerContext.ConditionChecker;
>>>>>>>
import org.apache.accumulo.tserver.ConditionCheckerContext.ConditionChecker;
<<<<<<<
final CompressedIterators compressedIters = new CompressedIterators(symbols);
=======
final CompressedIterators compressedIters = new CompressedIterators(symbols);
ConditionCheckerContext checkerContext = new ConditionCheckerContext(compressedIters, ServerConfiguration.getTableConfiguration(instance, cs.tableId));
>>>>>>>
final CompressedIterators compressedIters = new CompressedIterators(symbols);
ConditionCheckerContext checkerContext = new ConditionCheckerContext(compressedIters, confFactory.getTableConfiguration(cs.tableId)); |
<<<<<<<
=======
import us.ihmc.robotics.math.frames.YoMatrix;
import us.ihmc.robotics.referenceFrames.PoseReferenceFrame;
>>>>>>>
import us.ihmc.robotics.referenceFrames.PoseReferenceFrame;
<<<<<<<
private final FramePoint3D[] basisVectorsOrigin;
private final FrameVector3D[] basisVectors;
private final YoDouble[] maxContactForces;
private final YoDouble[] rhoWeights;
=======
private final List<YoBoolean> rhoEnabled = new ArrayList<>();
private final List<FramePoint3D> basisVectorsOrigin = new ArrayList<>();
private final List<FrameVector3D> basisVectors = new ArrayList<>();
private final HashMap<YoContactPoint, YoDouble> maxContactForces = new HashMap<>();
private final HashMap<YoContactPoint, YoDouble> rhoWeights = new HashMap<>();
>>>>>>>
private final YoBoolean[] rhoEnabled;
private final FramePoint3D[] basisVectorsOrigin;
private final FrameVector3D[] basisVectors;
private final YoDouble[] maxContactForces;
private final YoDouble[] rhoWeights;
<<<<<<<
hasReceivedCenterOfPressureCommand = new YoBoolean(namePrefix + "HasReceivedCoPCommand", registry);
isFootholdAreaLargeEnough = new YoBoolean(namePrefix + "isFootholdAreaLargeEnough", registry);
desiredCoPCommandInSoleFrame = new YoFramePoint2D(namePrefix + "DesiredCoPCommand", planeFrame, registry);
basisVectors = new FrameVector3D[rhoSize];
basisVectorsOrigin = new FramePoint3D[rhoSize];
=======
yoRho = new YoMatrix(namePrefix + "Rho", rhoSize, 1, registry);
>>>>>>>
rhoEnabled = new YoBoolean[rhoSize];
basisVectors = new FrameVector3D[rhoSize];
basisVectorsOrigin = new FramePoint3D[rhoSize];
<<<<<<<
basisVectors[i] = new FrameVector3D(centerOfMassFrame);
basisVectorsOrigin[i] = new FramePoint3D(centerOfMassFrame);
=======
rhoEnabled.add(new YoBoolean("Rho" + i + "Enabled", registry));
basisVectors.add(new FrameVector3D(centerOfMassFrame));
basisVectorsOrigin.add(new FramePoint3D(centerOfMassFrame));
>>>>>>>
rhoEnabled[i] = new YoBoolean("Rho" + i + "Enabled", registry);
basisVectors[i] = new FrameVector3D(centerOfMassFrame);
basisVectorsOrigin[i] = new FramePoint3D(centerOfMassFrame);
<<<<<<<
FramePoint3D basisVectorOrigin = basisVectorsOrigin[rhoIndex];
FrameVector3D basisVector = basisVectors[rhoIndex];
=======
FramePoint3D basisVectorOrigin = basisVectorsOrigin.get(rhoIndex);
FrameVector3D basisVector = basisVectors.get(rhoIndex);
rhoEnabled.get(rhoIndex).set(inContact);
>>>>>>>
FramePoint3D basisVectorOrigin = basisVectorsOrigin[rhoIndex];
FrameVector3D basisVector = basisVectors[rhoIndex];
rhoEnabled[rhoIndex].set(inContact);
<<<<<<<
DenseMatrix64F singleRhoJacobian = computeSingleRhoJacobian(basisVectorOrigin, basisVector);
CommonOps.insert(singleRhoJacobian, rhoJacobianMatrix, 0, rhoIndex);
DenseMatrix64F singleRhoCoPJacobian = computeSingleRhoCoPJacobian(basisVectorOrigin, basisVector);
CommonOps.insert(singleRhoCoPJacobian, copJacobianMatrix, 0, rhoIndex);
double rhoWeight = rhoWeights[contactPointIndex].getDoubleValue();
=======
double rhoWeight = rhoWeights.get(yoPlaneContactState.getContactPoints().get(contactPointIndex)).getDoubleValue();
>>>>>>>
double rhoWeight = rhoWeights[contactPointIndex].getDoubleValue(); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.transform.RigidBodyTransform;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector2D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
private final FramePoint2D footstepPositionSolution = new FramePoint2D();
private final FramePoint2D desiredCMP = new FramePoint2D();
private final FramePoint2D desiredICP = new FramePoint2D();
private final FrameVector2D desiredICPVelocity = new FrameVector2D();
private final FramePoint2D currentICP = new FramePoint2D();
=======
private final FramePoint2d footstepPositionSolution = new FramePoint2d();
private final FramePoint2d desiredCMP = new FramePoint2d();
private final FramePoint2d desiredICP = new FramePoint2d();
private final FrameVector2d desiredICPVelocity = new FrameVector2d();
private final FramePoint2d currentICP = new FramePoint2d();
private final FramePoint2d perfectCMP = new FramePoint2d();
>>>>>>>
private final FramePoint2D footstepPositionSolution = new FramePoint2D();
private final FramePoint2D desiredCMP = new FramePoint2D();
private final FramePoint2D desiredICP = new FramePoint2D();
private final FrameVector2D desiredICPVelocity = new FrameVector2D();
private final FramePoint2D currentICP = new FramePoint2D();
private final FramePoint2D perfectCMP = new FramePoint2D(); |
<<<<<<<
centerOfMassZUpFrame.update();
=======
updateHipsCentroid();
}
@Override
public ReferenceFrame getCenterOfFourHipsFrame()
{
return centerOfFourHipsFrame;
>>>>>>>
centerOfMassZUpFrame.update();
updateHipsCentroid();
}
@Override
public ReferenceFrame getCenterOfFourHipsFrame()
{
return centerOfFourHipsFrame; |
<<<<<<<
import us.ihmc.SdfLoader.models.FullHumanoidRobotModel;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.ChestTrajectoryControllerCommand;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.GoHomeControllerCommand;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.StopAllTrajectoryControllerCommand;
=======
import us.ihmc.SdfLoader.models.FullHumanoidRobotModel;
import us.ihmc.SdfLoader.models.FullRobotModel;
>>>>>>>
import us.ihmc.SdfLoader.models.FullHumanoidRobotModel;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.ChestTrajectoryControllerCommand;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.GoHomeControllerCommand;
import us.ihmc.commonWalkingControlModules.controllerAPI.input.command.StopAllTrajectoryControllerCommand;
<<<<<<<
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.FeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
import us.ihmc.robotics.controllers.YoOrientationPIDGainsInterface;
=======
import us.ihmc.commonWalkingControlModules.momentumBasedController.TaskspaceConstraintData;
import us.ihmc.commonWalkingControlModules.packetConsumers.ChestOrientationProvider;
import us.ihmc.commonWalkingControlModules.packetConsumers.ChestTrajectoryMessageSubscriber;
import us.ihmc.commonWalkingControlModules.packetConsumers.StopAllTrajectoryMessageSubscriber;
import us.ihmc.humanoidRobotics.communication.packets.walking.ChestTrajectoryMessage;
import us.ihmc.robotics.controllers.YoOrientationPIDGains;
>>>>>>>
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.FeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.feedbackController.OrientationFeedbackControlCommand;
import us.ihmc.commonWalkingControlModules.momentumBasedController.dataObjects.solver.InverseDynamicsCommand;
import us.ihmc.humanoidRobotics.communication.packets.walking.GoHomeMessage.BodyPart;
import us.ihmc.robotics.controllers.YoOrientationPIDGainsInterface;
<<<<<<<
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
=======
import us.ihmc.robotics.math.frames.YoFrameVector;
import us.ihmc.robotics.math.trajectories.OrientationTrajectoryGeneratorInMultipleFrames;
import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
>>>>>>>
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsOrientationTrajectoryGenerator;
<<<<<<<
=======
import us.ihmc.robotics.screwTheory.ScrewTools;
import us.ihmc.robotics.screwTheory.SpatialAccelerationVector;
import us.ihmc.robotics.screwTheory.TwistCalculator;
>>>>>>>
<<<<<<<
=======
this.chestTrajectoryMessageSubscriber = chestTrajectoryMessageSubscriber;
this.stopAllTrajectoryMessageSubscriber = stopAllTrajectoryMessageSubscriber;
this.chestOrientationProvider = chestOrientationProvider;
>>>>>>>
<<<<<<<
FullHumanoidRobotModel fullRobotModel = momentumBasedController.getFullRobotModel();
RigidBody chest = fullRobotModel.getChest();
RigidBody elevator = fullRobotModel.getElevator();
chestFrame = chest.getBodyFixedFrame();
=======
FullHumanoidRobotModel fullRobotModel = momentumBasedController.getFullRobotModel();
RigidBody chest = fullRobotModel.getChest();
chestFrame = chest.getBodyFixedFrame();
TwistCalculator twistCalculator = momentumBasedController.getTwistCalculator();
double controlDT = momentumBasedController.getControlDT();
chestOrientationControlModule = new ChestOrientationControlModule(pelvisZUpFrame, chest, twistCalculator, controlDT, chestControlGains, registry);
yoControlledAngularAcceleration = new YoFrameVector("controlledChestAngularAcceleration", chestFrame, registry);
if (chestOrientationProvider != null || chestTrajectoryMessageSubscriber != null)
{
isTrajectoryStopped = new BooleanYoVariable("isChestOrientationTrajectoryStopped", registry);
isTrackingOrientation = new BooleanYoVariable("isTrackingOrientation", registry);
receivedNewChestOrientationTime = new DoubleYoVariable("receivedNewChestOrientationTime", registry);
>>>>>>>
FullHumanoidRobotModel fullRobotModel = momentumBasedController.getFullRobotModel();
RigidBody chest = fullRobotModel.getChest();
RigidBody elevator = fullRobotModel.getElevator();
chestFrame = chest.getBodyFixedFrame();
<<<<<<<
public void initialize()
=======
private final FrameOrientation desiredOrientation = new FrameOrientation();
private final FrameVector desiredAngularVelocity = new FrameVector(ReferenceFrame.getWorldFrame());
private final FrameVector feedForwardAngularAcceleration = new FrameVector(ReferenceFrame.getWorldFrame());
private final FrameVector controlledAngularAcceleration = new FrameVector();
public void compute()
>>>>>>>
public void initialize()
<<<<<<<
if (!isTrajectoryStopped.getBooleanValue())
=======
chestOrientationControlModule.compute();
TaskspaceConstraintData taskspaceConstraintData = chestOrientationControlModule.getTaskspaceConstraintData();
if (yoControlledAngularAcceleration != null)
>>>>>>>
if (!isTrajectoryStopped.getBooleanValue()) |
<<<<<<<
FileSKVWriter writer = FileOperations.getInstance().newWriterBuilder().forFile(tempFile.toString(), fs, defaultConf)
.withTableConfiguration(DefaultConfiguration.getInstance()).build();
=======
FileSKVWriter writer = FileOperations.getInstance().newWriterBuilder()
.forFile(tempFile.toString(), fs, defaultConf)
.withTableConfiguration(AccumuloConfiguration.getDefaultConfiguration()).build();
>>>>>>>
FileSKVWriter writer = FileOperations.getInstance().newWriterBuilder()
.forFile(tempFile.toString(), fs, defaultConf)
.withTableConfiguration(DefaultConfiguration.getInstance()).build(); |
<<<<<<<
desiredChestOrientation.changeFrame(pelvisZUpFrame);
=======
desiredChestOrientation.changeFrame(humanoidReferenceFrames.getPelvisZUpFrame());
for (RobotSide robotSide : RobotSide.values)
desiredHandPoses.get(robotSide).changeFrame(fullRobotModel.getChest().getBodyFixedFrame());
>>>>>>>
desiredChestOrientation.changeFrame(pelvisZUpFrame);
for (RobotSide robotSide : RobotSide.values)
desiredHandPoses.get(robotSide).changeFrame(fullRobotModel.getChest().getBodyFixedFrame()); |
<<<<<<<
try (Scanner s = conn.createScanner("foo", Authorizations.EMPTY)) {
Assert.assertEquals(0, Iterables.size(s));
ZooReader zreader = new ZooReader(inst.getZooKeepers(), inst.getZooKeepersSessionTimeOut());
Set<String> tserverHost = new HashSet<>();
tserverHost.addAll(zreader.getChildren(ZooUtil.getRoot(inst) + Constants.ZTSERVERS));
Set<HostAndPort> replicationServices = new HashSet<>();
for (String tserver : tserverHost) {
try {
byte[] portData = zreader.getData(ZooUtil.getRoot(inst) + ReplicationConstants.ZOO_TSERVERS + "/" + tserver, null);
HostAndPort replAddress = HostAndPort.fromString(new String(portData, UTF_8));
replicationServices.add(replAddress);
} catch (Exception e) {
log.error("Could not find port for {}", tserver, e);
Assert.fail("Did not find replication port advertisement for " + tserver);
}
=======
Scanner s = conn.createScanner("foo", Authorizations.EMPTY);
Assert.assertEquals(0, Iterables.size(s));
ZooReader zreader = new ZooReader(inst.getZooKeepers(), inst.getZooKeepersSessionTimeOut());
Set<String> tserverHost = new HashSet<>();
tserverHost.addAll(zreader.getChildren(ZooUtil.getRoot(inst) + Constants.ZTSERVERS));
Set<HostAndPort> replicationServices = new HashSet<>();
for (String tserver : tserverHost) {
try {
byte[] portData = zreader.getData(
ZooUtil.getRoot(inst) + ReplicationConstants.ZOO_TSERVERS + "/" + tserver, null);
HostAndPort replAddress = HostAndPort.fromString(new String(portData, UTF_8));
replicationServices.add(replAddress);
} catch (Exception e) {
log.error("Could not find port for {}", tserver, e);
Assert.fail("Did not find replication port advertisement for " + tserver);
>>>>>>>
try (Scanner s = conn.createScanner("foo", Authorizations.EMPTY)) {
Assert.assertEquals(0, Iterables.size(s));
ZooReader zreader = new ZooReader(inst.getZooKeepers(), inst.getZooKeepersSessionTimeOut());
Set<String> tserverHost = new HashSet<>();
tserverHost.addAll(zreader.getChildren(ZooUtil.getRoot(inst) + Constants.ZTSERVERS));
Set<HostAndPort> replicationServices = new HashSet<>();
for (String tserver : tserverHost) {
try {
byte[] portData = zreader.getData(
ZooUtil.getRoot(inst) + ReplicationConstants.ZOO_TSERVERS + "/" + tserver, null);
HostAndPort replAddress = HostAndPort.fromString(new String(portData, UTF_8));
replicationServices.add(replAddress);
} catch (Exception e) {
log.error("Could not find port for {}", tserver, e);
Assert.fail("Did not find replication port advertisement for " + tserver);
}
<<<<<<<
// Each tserver should also have equial replicaiton services running internally
Assert.assertEquals("Expected an equal number of replication servicers and tservers", tserverHost.size(), replicationServices.size());
}
=======
// Each tserver should also have equial replicaiton services running internally
Assert.assertEquals("Expected an equal number of replication servicers and tservers",
tserverHost.size(), replicationServices.size());
>>>>>>>
// Each tserver should also have equial replicaiton services running internally
Assert.assertEquals("Expected an equal number of replication servicers and tservers",
tserverHost.size(), replicationServices.size());
}
<<<<<<<
// Get the master replication coordinator addr
String replCoordAddr = new String(zreader.getData(ZooUtil.getRoot(inst) + Constants.ZMASTER_REPLICATION_COORDINATOR_ADDR, null), UTF_8);
=======
// Get the master replication coordinator addr
String replCoordAddr = new String(zreader.getData(
ZooUtil.getRoot(inst) + Constants.ZMASTER_REPLICATION_COORDINATOR_ADDR, null), UTF_8);
>>>>>>>
// Get the master replication coordinator addr
String replCoordAddr = new String(zreader.getData(
ZooUtil.getRoot(inst) + Constants.ZMASTER_REPLICATION_COORDINATOR_ADDR, null), UTF_8); |
<<<<<<<
import us.ihmc.robotics.controllers.pidGains.GainCoupling;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultYoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
=======
import us.ihmc.robotics.controllers.YoEuclideanPositionGains;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D;
>>>>>>>
import us.ihmc.robotics.controllers.pidGains.GainCoupling;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultYoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D; |
<<<<<<<
=======
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.NewInstantaneousCapturePointPlannerTest.class,
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.NewInstantaneousCapturePointPlannerWithSmootherTest.class,
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.SmartCMPPlanarProjectorTest.class,
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.SmartCMPProjectorTest.class,
>>>>>>>
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.SmartCMPPlanarProjectorTest.class, |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.transform.RigidBodyTransform;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
import us.ihmc.robotics.partNames.NeckJointName;
=======
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
>>>>>>> |
<<<<<<<
@Override
public void submitCurrentPlanarRegions(RecyclingArrayList<PlanarRegion> planarRegions)
{}
=======
@Override
public void setKeepCoPInsideSupportPolygon(boolean keepCoPInsideSupportPolygon)
{}
>>>>>>>
@Override
public void submitCurrentPlanarRegions(RecyclingArrayList<PlanarRegion> planarRegions)
{}
@Override
public void setKeepCoPInsideSupportPolygon(boolean keepCoPInsideSupportPolygon)
{} |
<<<<<<<
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testLogAndExpAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Quat4d qLog = new Quat4d();
Quat4d vExp = new Quat4d();
quaternionCalculus.log(q, qLog);
Vector3d v = new Vector3d(qLog.getX(),qLog.getY(),qLog.getZ());
quaternionCalculus.exp(v, vExp);
assertTrue(Math.abs(q.getX() - vExp.getX()) < 10e-10);
assertTrue(Math.abs(q.getY() - vExp.getY()) < 10e-10);
assertTrue(Math.abs(q.getZ() - vExp.getZ()) < 10e-10);
assertTrue(Math.abs(q.getW() - vExp.getW()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testMultiplyAndInverseMultiplyAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Vector3d v = RandomTools.generateRandomVector(random);
Quat4d qResult = new Quat4d();
Quat4d qResultInverse = new Quat4d();
Vector3d vResult = new Vector3d();
quaternionCalculus.multiply(q, v, qResult);
quaternionCalculus.multiply(q, v, vResult);
assertTrue(qResult.getX()==vResult.getX());
assertTrue(qResult.getY()==vResult.getY());
assertTrue(qResult.getZ()==vResult.getZ());
quaternionCalculus.inverseMultiply(q,qResult,qResultInverse);
assertTrue(Math.abs(v.getX() - qResultInverse.getX()) < 10e-10);
assertTrue(Math.abs(v.getY() - qResultInverse.getY()) < 10e-10);
assertTrue(Math.abs(v.getZ() - qResultInverse.getZ()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
=======
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
>>>>>>>
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
public void testLogAndExpAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Quat4d qLog = new Quat4d();
Quat4d vExp = new Quat4d();
quaternionCalculus.log(q, qLog);
Vector3d v = new Vector3d(qLog.getX(),qLog.getY(),qLog.getZ());
quaternionCalculus.exp(v, vExp);
assertTrue(Math.abs(q.getX() - vExp.getX()) < 10e-10);
assertTrue(Math.abs(q.getY() - vExp.getY()) < 10e-10);
assertTrue(Math.abs(q.getZ() - vExp.getZ()) < 10e-10);
assertTrue(Math.abs(q.getW() - vExp.getW()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testMultiplyAndInverseMultiplyAlgebra() throws Exception
{
Random random = new Random(651651961L);
for (int i = 0; i < 10000; i++)
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Quat4d q = RandomTools.generateRandomQuaternion(random);
Vector3d v = RandomTools.generateRandomVector(random);
Quat4d qResult = new Quat4d();
Quat4d qResultInverse = new Quat4d();
Vector3d vResult = new Vector3d();
quaternionCalculus.multiply(q, v, qResult);
quaternionCalculus.multiply(q, v, vResult);
assertTrue(qResult.getX()==vResult.getX());
assertTrue(qResult.getY()==vResult.getY());
assertTrue(qResult.getZ()==vResult.getZ());
quaternionCalculus.inverseMultiply(q,qResult,qResultInverse);
assertTrue(Math.abs(v.getX() - qResultInverse.getX()) < 10e-10);
assertTrue(Math.abs(v.getY() - qResultInverse.getY()) < 10e-10);
assertTrue(Math.abs(v.getZ() - qResultInverse.getZ()) < 10e-10);
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
<<<<<<<
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testFDSimpleCase() throws Exception
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Random random = new Random(65265L);
double integrationTime = 1.0;
double angleVelocity = RandomTools.generateRandomDouble(random, 0.0, 2.0 * Math.PI) / integrationTime;
Vector3d expectedAngularVelocity = new Vector3d(angleVelocity, 0.0, 0.0);
Vector3d expectedAngularAcceleration = new Vector3d();
AxisAngle4d axisAnglePrevious = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleCurrent = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleNext = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
Quat4d qPrevious = new Quat4d();
Quat4d qCurrent = new Quat4d();
Quat4d qNext = new Quat4d();
Quat4d qDot = new Quat4d();
Quat4d qDDot = new Quat4d();
Vector3d actualAngularVelocity = new Vector3d();
Vector3d actualAngularAcceleration = new Vector3d();
double dt = 1.0e-4;
for (double time = dt; time < integrationTime; time += dt)
{
axisAnglePrevious.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time - dt)) - Math.PI);
qPrevious.set(axisAnglePrevious);
axisAngleCurrent.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * time) - Math.PI);
qCurrent.set(axisAngleCurrent);
axisAngleNext.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time + dt)) - Math.PI);
qNext.set(axisAngleNext);
quaternionCalculus.computeQDotByFiniteDifferenceCentral(qPrevious, qNext, dt, qDot);
quaternionCalculus.computeAngularVelocity(qCurrent, qDot, actualAngularVelocity);
quaternionCalculus.computeQDDotByFiniteDifferenceCentral(qPrevious, qCurrent, qNext, dt, qDDot);
quaternionCalculus.computeAngularAcceleration(qCurrent, qDot, qDDot, actualAngularAcceleration);
boolean sameVelocity = expectedAngularVelocity.epsilonEquals(actualAngularVelocity, 1.0e-7);
if (!sameVelocity)
{
System.out.println("Expected angular velocity: " + expectedAngularVelocity);
System.out.println("Actual angular velocity: " + actualAngularVelocity);
}
assertTrue(sameVelocity);
assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, 1.0e-7));
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000)
=======
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
>>>>>>>
@DeployableTestMethod(estimatedDuration = 0.07)
@Test(timeout = 500)
public void testFDSimpleCase() throws Exception
{
QuaternionCalculus quaternionCalculus = new QuaternionCalculus();
Random random = new Random(65265L);
double integrationTime = 1.0;
double angleVelocity = RandomTools.generateRandomDouble(random, 0.0, 2.0 * Math.PI) / integrationTime;
Vector3d expectedAngularVelocity = new Vector3d(angleVelocity, 0.0, 0.0);
Vector3d expectedAngularAcceleration = new Vector3d();
AxisAngle4d axisAnglePrevious = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleCurrent = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
AxisAngle4d axisAngleNext = new AxisAngle4d(1.0, 0.0, 0.0, 0.0);
Quat4d qPrevious = new Quat4d();
Quat4d qCurrent = new Quat4d();
Quat4d qNext = new Quat4d();
Quat4d qDot = new Quat4d();
Quat4d qDDot = new Quat4d();
Vector3d actualAngularVelocity = new Vector3d();
Vector3d actualAngularAcceleration = new Vector3d();
double dt = 1.0e-4;
for (double time = dt; time < integrationTime; time += dt)
{
axisAnglePrevious.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time - dt)) - Math.PI);
qPrevious.set(axisAnglePrevious);
axisAngleCurrent.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * time) - Math.PI);
qCurrent.set(axisAngleCurrent);
axisAngleNext.setAngle(AngleTools.trimAngleMinusPiToPi(angleVelocity * (time + dt)) - Math.PI);
qNext.set(axisAngleNext);
quaternionCalculus.computeQDotByFiniteDifferenceCentral(qPrevious, qNext, dt, qDot);
quaternionCalculus.computeAngularVelocity(qCurrent, qDot, actualAngularVelocity);
quaternionCalculus.computeQDDotByFiniteDifferenceCentral(qPrevious, qCurrent, qNext, dt, qDDot);
quaternionCalculus.computeAngularAcceleration(qCurrent, qDot, qDDot, actualAngularAcceleration);
boolean sameVelocity = expectedAngularVelocity.epsilonEquals(actualAngularVelocity, 1.0e-7);
if (!sameVelocity)
{
System.out.println("Expected angular velocity: " + expectedAngularVelocity);
System.out.println("Actual angular velocity: " + actualAngularVelocity);
}
assertTrue(sameVelocity);
assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, 1.0e-7));
}
}
@DeployableTestMethod(estimatedDuration = 0.0)
@Test(timeout = 30000) |
<<<<<<<
public synchronized void releaseOpenFiles(boolean sawIOException) {
releaseReaders(tabletReservedReaders, sawIOException);
=======
synchronized void releaseOpenFiles(boolean sawIOException) {
releaseReaders(tablet, tabletReservedReaders, sawIOException);
>>>>>>>
public synchronized void releaseOpenFiles(boolean sawIOException) {
releaseReaders(tablet, tabletReservedReaders, sawIOException); |
<<<<<<<
import us.ihmc.yoVariables.registry.YoRegistry;
=======
import us.ihmc.yoVariables.providers.DoubleProvider;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
>>>>>>>
import us.ihmc.yoVariables.providers.DoubleProvider;
import us.ihmc.yoVariables.registry.YoRegistry; |
<<<<<<<
taskSpaceControllerSettings.setContactPressureUpperLimit(robotQuadrant, params.get(NO_CONTACT_PRESSURE_LIMIT));
=======
taskSpaceControllerSettings.setPressureUpperLimit(robotQuadrant, noContactPressureLimitParameter.get());
>>>>>>>
taskSpaceControllerSettings.setContactPressureUpperLimit(robotQuadrant, noContactPressureLimitParameter.get()); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import java.util.List;
import us.ihmc.commonWalkingControlModules.angularMomentumTrajectoryGenerator.YoFrameTrajectory3D;
import us.ihmc.commons.PrintTools;
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
=======
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePoint2d;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.robotics.geometry.FrameVector; |
<<<<<<<
private final GenericStateMachine<QuadrupedControllerState, QuadrupedController> stateMachine;
=======
private final QuadrupedVirtualModelController virtualModelController;
private final StateMachine<QuadrupedControllerState> stateMachine;
>>>>>>>
private final QuadrupedVirtualModelController virtualModelController;
private final GenericStateMachine<QuadrupedControllerState, QuadrupedController> stateMachine;
<<<<<<<
// configure state machine
stateMachine = new GenericStateMachine<>("QuadrupedControllerStateMachine", "QuadrupedControllerSwitchTime", QuadrupedControllerState.class,
robotTimestamp, registry);
=======
this.virtualModelController = new QuadrupedVirtualModelController(sdfFullRobotModel, quadrupedRobotParameters, registry);
stateMachine = new StateMachine<>("QuadrupedControllerStateMachine", "QuadrupedControllerSwitchTime", QuadrupedControllerState.class, robotTimestamp, registry);
>>>>>>>
this.virtualModelController = new QuadrupedVirtualModelController(sdfFullRobotModel, quadrupedRobotParameters, registry);
// configure state machine
stateMachine = new GenericStateMachine<>("QuadrupedControllerStateMachine", "QuadrupedControllerSwitchTime", QuadrupedControllerState.class,
robotTimestamp, registry);
<<<<<<<
QuadrupedVMCStandController vmcStandController = new QuadrupedVMCStandController(simulationDT, quadrupedRobotParameters, sdfFullRobotModel,
robotTimestamp, registry, yoGraphicsListRegistry);
QuadrupedPositionBasedCrawlController positionBasedCrawlController = new QuadrupedPositionBasedCrawlController(simulationDT, quadrupedRobotParameters,
sdfFullRobotModel, stateEstimator, inverseKinematicsCalculators, globalDataProducer, robotTimestamp, registry, yoGraphicsListRegistry,
yoGraphicsListRegistryForDetachedOverhead);
=======
QuadrupedVMCStandController vmcStandController = new QuadrupedVMCStandController(simulationDT, quadrupedRobotParameters, sdfFullRobotModel,
virtualModelController, robotTimestamp, registry, yoGraphicsListRegistry);
QuadrupedPositionBasedCrawlController positionBasedCrawlController = new QuadrupedPositionBasedCrawlController(simulationDT, quadrupedRobotParameters, sdfFullRobotModel,
stateEstimator, inverseKinematicsCalculators, globalDataProducer, robotTimestamp, registry, yoGraphicsListRegistry, yoGraphicsListRegistryForDetachedOverhead);
>>>>>>>
QuadrupedVMCStandController vmcStandController = new QuadrupedVMCStandController(simulationDT, quadrupedRobotParameters, sdfFullRobotModel, virtualModelController, robotTimestamp, registry, yoGraphicsListRegistry);
QuadrupedPositionBasedCrawlController positionBasedCrawlController = new QuadrupedPositionBasedCrawlController(simulationDT, quadrupedRobotParameters,
sdfFullRobotModel, stateEstimator, inverseKinematicsCalculators, globalDataProducer, robotTimestamp, registry, yoGraphicsListRegistry,
yoGraphicsListRegistryForDetachedOverhead); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
=======
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
>>>>>>>
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
<<<<<<<
public void computeFromCoPWaypoints(double t0, double tFinal, FramePoint3D zInitial, FramePoint3D zRefPoint1, FramePoint3D zRefPoint2, FramePoint3D zFinal)
=======
public void set(double t0, double tFinal, FramePoint z0, FramePoint zf)
>>>>>>>
public void set(double t0, double tFinal, FramePoint3D z0, FramePoint3D zf) |
<<<<<<<
=======
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.robotics.geometry.AbstractReferenceFrameHolder;
>>>>>>>
<<<<<<<
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
=======
import us.ihmc.robotics.geometry.FramePoint2d;
import us.ihmc.robotics.geometry.FrameVector2d;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
>>>>>>>
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble; |
<<<<<<<
private final FramePoint2d tempVertex = new FramePoint2d();
public void updateCoPConstraintForDoubleSupport(ICPQPOptimizationSolver solver)
=======
public void updateCoPConstraintForDoubleSupport(ICPOptimizationSolver solver)
>>>>>>>
public void updateCoPConstraintForDoubleSupport(ICPQPOptimizationSolver solver) |
<<<<<<<
taskspaceControlState = new RigidBodyTaskspaceControlState("Orientation", pelvis, elevator, elevator, trajectoryFrames, pelvisFixedFrame, baseFrame, yoTime, graphicsListRegistry, registry);
=======
taskspaceControlState = new RigidBodyTaskspaceControlState(pelvis, elevator, elevator, trajectoryFrames, pelvisFixedFrame, baseFrame, yoTime, null, graphicsListRegistry, registry);
>>>>>>>
taskspaceControlState = new RigidBodyTaskspaceControlState("Orientation", pelvis, elevator, elevator, trajectoryFrames, pelvisFixedFrame, baseFrame, yoTime, null, graphicsListRegistry, registry); |
<<<<<<<
footstepRecursionMultiplierCalculator = new FootstepRecursionMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime,
defaultDoubleSupportSplitFraction, upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
=======
if (USE_NEW_MULTIPLIER_CALCULATOR)
{
stateMultiplierCalculator = new NewStateMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime, doubleSupportSplitFraction,
doubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
footstepRecursionMultiplierCalculator = null;
}
else
{
footstepRecursionMultiplierCalculator = new FootstepRecursionMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime,
doubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
stateMultiplierCalculator = null;
}
>>>>>>>
if (USE_NEW_MULTIPLIER_CALCULATOR)
{
stateMultiplierCalculator = new NewStateMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime, defaultDoubleSupportSplitFraction,
upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
footstepRecursionMultiplierCalculator = null;
}
else
{
footstepRecursionMultiplierCalculator = new FootstepRecursionMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime,
defaultDoubleSupportSplitFraction, upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
stateMultiplierCalculator = null;
}
<<<<<<<
footstepRecursionMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime, upcomingDoubleSupportSplitFraction,
VISUALIZE, registry, yoGraphicsListRegistry);
=======
footstepRecursionMultiplierCalculator, stateMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime,
doubleSupportSplitFraction, VISUALIZE, USE_NEW_MULTIPLIER_CALCULATOR, registry, yoGraphicsListRegistry);
>>>>>>>
footstepRecursionMultiplierCalculator, stateMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime,
upcomingDoubleSupportSplitFraction, VISUALIZE, USE_NEW_MULTIPLIER_CALCULATOR, registry, yoGraphicsListRegistry);
<<<<<<<
footstepRecursionMultiplierCalculator.computeRecursionMultipliers(numberOfFootstepsToConsider, isInTransfer.getBooleanValue(), localUseTwoCMPs, omega0);
=======
for (int i = 1; i < numberOfFootstepsToConsider + 1; i++)
footstepRecursionMultiplierCalculator.submitTimes(i, doubleSupportDuration.getDoubleValue(), singleSupportDuration.getDoubleValue());
>>>>>>>
footstepRecursionMultiplierCalculator.computeRecursionMultipliers(numberOfFootstepsToConsider, isInTransfer.getBooleanValue(), useTwoCMPs, omega0);
for (int i = 1; i < numberOfFootstepsToConsider + 1; i++)
footstepRecursionMultiplierCalculator.submitTimes(i, doubleSupportDuration.getDoubleValue(), singleSupportDuration.getDoubleValue());
<<<<<<<
upcomingDoubleSupportSplitFraction.set(defaultDoubleSupportSplitFraction.getDoubleValue());
beginningOfStateICP.set(solutionHandler.getControllerReferenceICP());
=======
int numberOfFootstepsToConsider = initializeOnContactChange(initialTime);
>>>>>>>
upcomingDoubleSupportSplitFraction.set(defaultDoubleSupportSplitFraction.getDoubleValue());
int numberOfFootstepsToConsider = initializeOnContactChange(initialTime);
<<<<<<<
solutionHandler.computeReferenceFromSolutions(footstepSolutions, inputHandler, beginningOfStateICP, omega0, numberOfFootstepsToConsider);
solutionHandler.computeNominalValues(upcomingFootstepLocations, inputHandler, beginningOfStateICP, omega0, numberOfFootstepsToConsider);
if (useDifferentSplitRatioForBigAdjustment)
computeUpcomingDoubleSupportSplitFraction(numberOfFootstepsToConsider, omega0);
=======
solutionHandler.computeReferenceFromSolutions(footstepSolutions, inputHandler, beginningOfStateICP, beginningOfStateICPVelocity, omega0, numberOfFootstepsToConsider);
solutionHandler.computeNominalValues(upcomingFootstepLocations, inputHandler, beginningOfStateICP, beginningOfStateICPVelocity, omega0, numberOfFootstepsToConsider);
>>>>>>>
solutionHandler.computeReferenceFromSolutions(footstepSolutions, inputHandler, beginningOfStateICP, beginningOfStateICPVelocity, omega0, numberOfFootstepsToConsider);
solutionHandler.computeNominalValues(upcomingFootstepLocations, inputHandler, beginningOfStateICP, beginningOfStateICPVelocity, omega0, numberOfFootstepsToConsider);
if (useDifferentSplitRatioForBigAdjustment && !isInTransfer.getBooleanValue())
computeUpcomingDoubleSupportSplitFraction(numberOfFootstepsToConsider, omega0); |
<<<<<<<
/**
* Traverses up the kinematic chain from the candidate descendant towards the root body, checking to see if each parent body is the ancestor in question.
* @param candidateDescendant
* @param ancestor
* @return
*/
=======
private static OneDoFJoint cloneOneDoFJoint(OneDoFJoint original, String cloneSuffix, RigidBody clonePredecessor)
{
String jointNameOriginal = original.getName();
RigidBodyTransform jointTransform = original.getOffsetTransform3D();
Vector3d jointAxisCopy = original.getJointAxis().getVectorCopy();
OneDoFJoint clone;
if (original instanceof RevoluteJoint)
clone = ScrewTools.addRevoluteJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy);
else if (original instanceof PrismaticJoint)
clone = ScrewTools.addPrismaticJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy);
else
throw new RuntimeException("Unhandled type of " + OneDoFJoint.class.getSimpleName() + ": " + original.getClass().getSimpleName());
clone.setJointLimitLower(original.getJointLimitLower());
clone.setJointLimitUpper(original.getJointLimitUpper());
return clone;
}
private static RigidBody cloneRigidBody(RigidBody original, String cloneSuffix, InverseDynamicsJoint parentJointOfClone)
{
FramePoint comOffset = new FramePoint();
original.getCoMOffset(comOffset);
comOffset.changeFrame(original.getParentJoint().getFrameAfterJoint());
String nameOriginal = original.getName();
Matrix3d massMomentOfInertiaPartCopy = original.getInertia().getMassMomentOfInertiaPartCopy();
double mass = original.getInertia().getMass();
Vector3d comOffsetCopy = comOffset.getVectorCopy();
RigidBody clone = ScrewTools.addRigidBody(nameOriginal + cloneSuffix, parentJointOfClone, massMomentOfInertiaPartCopy,
mass, comOffsetCopy);
return clone;
}
>>>>>>>
private static OneDoFJoint cloneOneDoFJoint(OneDoFJoint original, String cloneSuffix, RigidBody clonePredecessor)
{
String jointNameOriginal = original.getName();
RigidBodyTransform jointTransform = original.getOffsetTransform3D();
Vector3d jointAxisCopy = original.getJointAxis().getVectorCopy();
OneDoFJoint clone;
if (original instanceof RevoluteJoint)
clone = ScrewTools.addRevoluteJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy);
else if (original instanceof PrismaticJoint)
clone = ScrewTools.addPrismaticJoint(jointNameOriginal + cloneSuffix, clonePredecessor, jointTransform, jointAxisCopy);
else
throw new RuntimeException("Unhandled type of " + OneDoFJoint.class.getSimpleName() + ": " + original.getClass().getSimpleName());
clone.setJointLimitLower(original.getJointLimitLower());
clone.setJointLimitUpper(original.getJointLimitUpper());
return clone;
}
private static RigidBody cloneRigidBody(RigidBody original, String cloneSuffix, InverseDynamicsJoint parentJointOfClone)
{
FramePoint comOffset = new FramePoint();
original.getCoMOffset(comOffset);
comOffset.changeFrame(original.getParentJoint().getFrameAfterJoint());
String nameOriginal = original.getName();
Matrix3d massMomentOfInertiaPartCopy = original.getInertia().getMassMomentOfInertiaPartCopy();
double mass = original.getInertia().getMass();
Vector3d comOffsetCopy = comOffset.getVectorCopy();
RigidBody clone = ScrewTools.addRigidBody(nameOriginal + cloneSuffix, parentJointOfClone, massMomentOfInertiaPartCopy,
mass, comOffsetCopy);
return clone;
}
/**
* Traverses up the kinematic chain from the candidate descendant towards the root body, checking to see if each parent body is the ancestor in question.
* @param candidateDescendant
* @param ancestor
* @return
*/ |
<<<<<<<
/**
* A filter for properties, based on key.
*/
public static interface PropertyFilter {
/**
* Determines whether to accept a property based on its key.
*
* @param key property key
* @return true to accept property (pass filter)
*/
=======
public interface PropertyFilter {
>>>>>>>
/**
* A filter for properties, based on key.
*/
public interface PropertyFilter {
/**
* Determines whether to accept a property based on its key.
*
* @param key property key
* @return true to accept property (pass filter)
*/ |
<<<<<<<
=======
import us.ihmc.commonWalkingControlModules.packetConsumers.DesiredComHeightProvider;
import us.ihmc.commonWalkingControlModules.packetConsumers.PelvisHeightTrajectoryMessageSubscriber;
import us.ihmc.commonWalkingControlModules.packetConsumers.StopAllTrajectoryMessageSubscriber;
>>>>>>>
<<<<<<<
=======
import us.ihmc.robotics.math.trajectories.CubicPolynomialTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.DoubleTrajectoryGenerator;
>>>>>>>
<<<<<<<
import us.ihmc.robotics.math.trajectories.waypoints.FrameSE3TrajectoryPoint;
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.SimpleTrajectoryPoint1D;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
=======
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
>>>>>>>
import us.ihmc.robotics.math.trajectories.waypoints.FrameSE3TrajectoryPoint;
import us.ihmc.robotics.math.trajectories.waypoints.MultipleWaypointsTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.waypoints.SimpleTrajectoryPoint1D;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
<<<<<<<
private final BooleanYoVariable isTrajectoryOffsetStopped = new BooleanYoVariable("isPelvisOffsetHeightTrajectoryStopped", registry);
=======
private final DesiredComHeightProvider desiredComHeightProvider;
private final PelvisHeightTrajectoryMessageSubscriber pelvisHeightTrajectoryMessageSubscriber;
private final StopAllTrajectoryMessageSubscriber stopAllTrajectoryMessageSubscriber;
private final BooleanYoVariable isTrajectoryOffsetStopped = new BooleanYoVariable("isPelvisOffsetHeightTrajectoryStopped", registry);
>>>>>>>
private final BooleanYoVariable isTrajectoryOffsetStopped = new BooleanYoVariable("isPelvisOffsetHeightTrajectoryStopped", registry);
<<<<<<<
registry);
private final YoVariableDoubleProvider offsetHeightAboveGroundTrajectoryTimeProvider = new YoVariableDoubleProvider(
"offsetHeightAboveGroundTrajectoryTimeProvider", registry);
private final MultipleWaypointsTrajectoryGenerator waypointOffsetHeightAboveGroundTrajectoryGenerator = new MultipleWaypointsTrajectoryGenerator(
"pelvisHeightOffset", 15, registry);
=======
registry);
private final YoVariableDoubleProvider offsetHeightAboveGroundTrajectoryTimeProvider = new YoVariableDoubleProvider(
"offsetHeightAboveGroundTrajectoryTimeProvider", registry);
private final MultipleWaypointsTrajectoryGenerator waypointOffsetHeightAboveGroundTrajectoryGenerator = new MultipleWaypointsTrajectoryGenerator(
"pelvisHeightOffset", 15, registry);
private final CubicPolynomialTrajectoryGenerator offsetHeightAboveGroundTrajectory = new CubicPolynomialTrajectoryGenerator(
"offsetHeightAboveGroundTrajectory", offsetHeightAboveGroundInitialPositionProvider, offsetHeightAboveGroundFinalPositionProvider,
offsetHeightAboveGroundTrajectoryTimeProvider, registry);
private final BooleanYoVariable isUsingWaypointTrajectory = new BooleanYoVariable("IsUsingWaypointTrajectoryForOffsetHeight", registry);
private DoubleTrajectoryGenerator activeTrajectoryGenerator = offsetHeightAboveGroundTrajectory;
>>>>>>>
registry);
private final YoVariableDoubleProvider offsetHeightAboveGroundTrajectoryTimeProvider = new YoVariableDoubleProvider(
"offsetHeightAboveGroundTrajectoryTimeProvider", registry);
private final MultipleWaypointsTrajectoryGenerator waypointOffsetHeightAboveGroundTrajectoryGenerator = new MultipleWaypointsTrajectoryGenerator(
"pelvisHeightOffset", registry);
<<<<<<<
double previous = waypointOffsetHeightAboveGroundTrajectoryGenerator.getValue();
waypointOffsetHeightAboveGroundTrajectoryGenerator.clear();
waypointOffsetHeightAboveGroundTrajectoryGenerator.appendWaypoint(0.0, previous, 0.0);
waypointOffsetHeightAboveGroundTrajectoryGenerator.appendWaypoint(offsetHeightAboveGroundTrajectoryTimeProvider.getValue(),
offsetHeightAboveGround.getDoubleValue(), 0.0);
waypointOffsetHeightAboveGroundTrajectoryGenerator.initialize();
=======
offsetHeightAboveGroundTrajectory.initialize();
activeTrajectoryGenerator = offsetHeightAboveGroundTrajectory;
isUsingWaypointTrajectory.set(false);
>>>>>>>
double previous = waypointOffsetHeightAboveGroundTrajectoryGenerator.getValue();
waypointOffsetHeightAboveGroundTrajectoryGenerator.clear();
waypointOffsetHeightAboveGroundTrajectoryGenerator.appendWaypoint(0.0, previous, 0.0);
waypointOffsetHeightAboveGroundTrajectoryGenerator.appendWaypoint(offsetHeightAboveGroundTrajectoryTimeProvider.getValue(),
offsetHeightAboveGround.getDoubleValue(), 0.0);
waypointOffsetHeightAboveGroundTrajectoryGenerator.initialize();
<<<<<<<
=======
@Override
>>>>>>>
<<<<<<<
dFMax.setY(findMaximumDoubleSupportHeight(s0.getX(), sF.getX(), dF.getX(), footHeight0 + extraToeOffHeight, footHeight1));
=======
if ((walkOnTheEdgesManager != null) && walkOnTheEdgesManager.willDoToeOff(transferToAndNextFootstepsData))
{
dFMax.setY(findMaximumDoubleSupportHeight(s0.getX(), sF.getX(), dF.getX(), footHeight0 + extraCoMMaxHeightWithToes, footHeight1));
}
else
{
dFMax.setY(findMaximumDoubleSupportHeight(s0.getX(), sF.getX(), dF.getX(), footHeight0, footHeight1));
}
>>>>>>>
dFMax.setY(findMaximumDoubleSupportHeight(s0.getX(), sF.getX(), dF.getX(), footHeight0 + extraToeOffHeight, footHeight1));
<<<<<<<
handleInitializeToCurrent();
=======
handleStopAllTrajectoryMessage();
updateOffsetDesireds();
handlePelvisHeightTrajectoryMessage();
if (isUsingWaypointTrajectory.getBooleanValue())
activeTrajectoryGenerator = waypointOffsetHeightAboveGroundTrajectoryGenerator;
else
activeTrajectoryGenerator = offsetHeightAboveGroundTrajectory;
if (!isTrajectoryOffsetStopped.getBooleanValue())
activeTrajectoryGenerator.compute(yoTime.getDoubleValue() - offsetHeightAboveGroundChangedTime.getDoubleValue());
offsetHeightAboveGroundTrajectoryOutput.set(activeTrajectoryGenerator.getValue());
offsetHeightAboveGroundPrevValue.set(activeTrajectoryGenerator.getValue());
double z = splineOutput[0] + offsetHeightAboveGroundTrajectoryOutput.getValue();
double dzds = splineOutput[1];
double ddzdds = splineOutput[2];
getPartialDerivativesWithRespectToS(projectionSegment, partialDerivativesWithRespectToS);
double dsdx = partialDerivativesWithRespectToS[0];
double dsdy = partialDerivativesWithRespectToS[1];
double ddsddx = 0;
double ddsddy = 0;
double ddsdxdy = 0;
double dzdx = dsdx * dzds;
double dzdy = dsdy * dzds;
double ddzddx = dzds * ddsddx + ddzdds * dsdx * dsdx;
double ddzddy = dzds * ddsddy + ddzdds * dsdy * dsdy;
double ddzdxdy = ddzdds * dsdx * dsdy + dzds * ddsdxdy;
height.setIncludingFrame(frameOfLastFoostep, 0.0, 0.0, z);
height.changeFrame(worldFrame);
coMHeightPartialDerivativesDataToPack.setCoMHeight(worldFrame, height.getZ());
coMHeightPartialDerivativesDataToPack.setPartialDzDx(dzdx);
coMHeightPartialDerivativesDataToPack.setPartialDzDy(dzdy);
coMHeightPartialDerivativesDataToPack.setPartialD2zDxDy(ddzdxdy);
coMHeightPartialDerivativesDataToPack.setPartialD2zDx2(ddzddx);
coMHeightPartialDerivativesDataToPack.setPartialD2zDy2(ddzddy);
desiredCoMHeight.set(z);
}
private void updateOffsetDesireds()
{
if (initializeToCurrent.getBooleanValue())
{
initializeToCurrent.set(false);
desiredPosition.setToZero(pelvisFrame);
desiredPosition.changeFrame(frameOfLastFoostep);
>>>>>>>
handleInitializeToCurrent(); |
<<<<<<<
=======
import us.ihmc.euclid.tuple4D.Quaternion;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.robotModels.FullHumanoidRobotModel;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePose;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
>>>>>>>
import us.ihmc.euclid.tuple4D.Quaternion;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.robotModels.FullHumanoidRobotModel;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FramePose;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList; |
<<<<<<<
@RosExportedField(documentation = "Frame information for this message.")
public FrameInformation frameInformation = new FrameInformation();
=======
@RosIgnoredField
public WeightMatrix3DMessage angularWeightMatrix;
public WeightMatrix3DMessage linearWeightMatrix;
@RosExportedField(documentation = "The ID of the reference frame to execute the trajectory in")
public long trajectoryReferenceFrameId;
@RosExportedField(documentation = "The Id of the reference frame defining which frame the taskspaceTrajectoryPoints are expressed in")
public long dataReferenceFrameId;
>>>>>>>
@RosExportedField(documentation = "Frame information for this message.")
public FrameInformation frameInformation = new FrameInformation();
@RosIgnoredField
public WeightMatrix3DMessage angularWeightMatrix;
public WeightMatrix3DMessage linearWeightMatrix;
<<<<<<<
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, long trajectoryReferenceFrameId)
=======
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, long dataFrameId,
long trajectoryReferenceFrameId)
>>>>>>>
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, long trajectoryReferenceFrameId)
<<<<<<<
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, ReferenceFrame trajectoryReferenceFrame)
=======
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, ReferenceFrame dataFrame,
ReferenceFrame trajectoryReferenceFrame)
>>>>>>>
public AbstractSE3TrajectoryMessage(double trajectoryTime, Point3DReadOnly desiredPosition, QuaternionReadOnly desiredOrientation, ReferenceFrame trajectoryReferenceFrame) |
<<<<<<<
private SortedMap<Key,Value> createTestData(int startRow, int rows, int startFamily, int families, int qualifiers) {
return createTestData(startRow, rows, startFamily, families, qualifiers, "");
}
private SortedMap<Key,Value> createTestData(int startRow, int rows, int startFamily, int families, int qualifiers, String... vis) {
=======
private SortedMap<Key,Value> createTestData(int startRow, int rows, int startFamily, int families,
int qualifiers) {
>>>>>>>
private SortedMap<Key,Value> createTestData(int startRow, int rows, int startFamily, int families,
int qualifiers) {
return createTestData(startRow, rows, startFamily, families, qualifiers, "");
}
private SortedMap<Key,Value> createTestData(int startRow, int rows, int startFamily, int families,
int qualifiers, String... vis) {
<<<<<<<
Reader reader = (Reader) FileOperations.getInstance().newReaderBuilder().forFile(testFile).inFileSystem(localFs, localFs.getConf())
.withTableConfiguration(DefaultConfiguration.getInstance()).build();
=======
Reader reader = (Reader) FileOperations.getInstance().newReaderBuilder().forFile(testFile)
.inFileSystem(localFs, localFs.getConf())
.withTableConfiguration(AccumuloConfiguration.getDefaultConfiguration()).build();
>>>>>>>
Reader reader = (Reader) FileOperations.getInstance().newReaderBuilder().forFile(testFile)
.inFileSystem(localFs, localFs.getConf())
.withTableConfiguration(DefaultConfiguration.getInstance()).build(); |
<<<<<<<
import us.ihmc.avatar.drcRobot.DRCRobotModel;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.avatar.drcRobot.RobotTarget;
>>>>>>>
import us.ihmc.avatar.drcRobot.RobotTarget;
import us.ihmc.euclid.referenceFrame.ReferenceFrame; |
<<<<<<<
private final YoRegistry registry = new YoRegistry(getClass().getSimpleName());
=======
private final YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
private final static double defaultLegRadiusGraphic = 0.21; // YoGraphicCylinder doesn't support changing radius on the fly...
>>>>>>>
private final YoRegistry registry = new YoRegistry(getClass().getSimpleName());
private final static double defaultLegRadiusGraphic = 0.21; // YoGraphicCylinder doesn't support changing radius on the fly... |
<<<<<<<
switch (fiducialType)
{
case FIDUCIAL_50: combinedTerrainObject3D.addTerrainObject(DefaultCommonAvatarEnvironment.addFiducial(new Vector3d(5.0, 0.0, 1.7), 0.0, Fiducial.FIDUCIAL50)); break;
case VALVE: combinedTerrainObject3D.addTerrainObject(DefaultCommonAvatarEnvironment.addValveTextureBox(new Vector3d(5.0, 0.0, 1.7), 0.0)); break;
}
=======
combinedTerrainObject3D.addTerrainObject(DefaultCommonAvatarEnvironment.addFiducial(new Vector3d(12.0, 0.0, 1.7), 0.0, Fiducial.FIDUCIAL50));
>>>>>>>
switch (fiducialType)
{
case FIDUCIAL_50: combinedTerrainObject3D.addTerrainObject(DefaultCommonAvatarEnvironment.addFiducial(new Vector3d(12.0, 0.0, 1.7), 0.0, Fiducial.FIDUCIAL50)); break;
case VALVE: combinedTerrainObject3D.addTerrainObject(DefaultCommonAvatarEnvironment.addValveTextureBox(new Vector3d(5.0, 0.0, 1.7), 0.0)); break;
} |
<<<<<<<
private final RigidBodyControlManager chestManager;
private final RigidBodyControlManager headManager;
public WalkingCommandConsumer(CommandInputManager commandInputManager, StatusMessageOutputManager statusMessageOutputManager, HighLevelHumanoidControllerToolbox momentumBasedController, WalkingMessageHandler walkingMessageHandler, HighLevelControlManagerFactory managerFactory,
=======
public WalkingCommandConsumer(CommandInputManager commandInputManager, StatusMessageOutputManager statusMessageOutputManager, HighLevelHumanoidControllerToolbox controllerToolbox, WalkingMessageHandler walkingMessageHandler, HighLevelControlManagerFactory managerFactory,
>>>>>>>
private final RigidBodyControlManager chestManager;
private final RigidBodyControlManager headManager;
public WalkingCommandConsumer(CommandInputManager commandInputManager, StatusMessageOutputManager statusMessageOutputManager, HighLevelHumanoidControllerToolbox controllerToolbox, WalkingMessageHandler walkingMessageHandler, HighLevelControlManagerFactory managerFactory, |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
=======
import us.ihmc.commons.PrintTools;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameTuple;
import us.ihmc.robotics.geometry.FrameVector;
>>>>>>>
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameTuple3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
=======
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
import us.ihmc.robotics.math.trajectories.YoTrajectory;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
>>>>>>>
import us.ihmc.robotics.math.trajectories.YoFrameTrajectory3D;
import us.ihmc.robotics.math.trajectories.YoSegmentedFrameTrajectory3D;
import us.ihmc.robotics.math.trajectories.YoTrajectory;
<<<<<<<
comDesiredInitialPositions.add(new FramePoint3D());
comDesiredFinalPositions.add(new FramePoint3D());
=======
comDesiredInitialPositions.add(new FramePoint());
comDesiredFinalPositions.add(new FramePoint());
icpQuantityInitialConditionList.add(new FrameVector());
>>>>>>>
comDesiredInitialPositions.add(new FramePoint3D());
comDesiredFinalPositions.add(new FramePoint3D());
icpQuantityInitialConditionList.add(new FrameVector3D()); |
<<<<<<<
import us.ihmc.commonWalkingControlModules.capturePoint.ICPControlPlane;
=======
>>>>>>>
import us.ihmc.commonWalkingControlModules.capturePoint.ICPControlPlane;
<<<<<<<
footstepSolutionToPack.set(clippedLocationSolution);
unclippedFootstepSolutionToPack.setByProjectionOntoXYPlane(locationSolution);
this.footstepWasAdjusted.set(footstepWasAdjusted);
}
public void extractFootstepSolution(YoFramePoint2d footstepSolutionToPack, YoFramePoint2d unclippedFootstepSolutionToPack, Footstep upcomingFootstep,
PlanarRegion activePlanarRegion, ICPOptimizationQPSolver solver)
{
if (activePlanarRegion == null)
{
extractFootstepSolution(footstepSolutionToPack, unclippedFootstepSolutionToPack, upcomingFootstep, solver);
return;
}
upcomingFootstep.getPosition(referenceFootstepLocation);
referenceFootstepLocation2D.set(referenceFootstepLocation);
solver.getFootstepSolutionLocation(0, locationSolutionOnPlane);
footstepSolutionInControlPlane.set(locationSolutionOnPlane);
if (useICPControlPolygons.getBooleanValue())
icpControlPlane.projectPointFromPlaneOntoPlanarRegion(worldFrame, locationSolutionOnPlane, locationSolution, activePlanarRegion);
else
locationSolution.set(locationSolutionOnPlane);
ReferenceFrame deadbandFrame = upcomingFootstep.getSoleReferenceFrame();
footstepSolutionToPack.getFrameTuple2d(previousLocationSolution);
=======
upcomingFootstep.getPosition2d(referenceFootstepLocation);
previousLocationSolution.set(footstepSolutionToPack);
>>>>>>>
footstepSolutionToPack.set(clippedLocationSolution);
unclippedFootstepSolutionToPack.setByProjectionOntoXYPlane(locationSolution);
this.footstepWasAdjusted.set(footstepWasAdjusted);
}
public void extractFootstepSolution(YoFramePoint2d footstepSolutionToPack, YoFramePoint2d unclippedFootstepSolutionToPack, Footstep upcomingFootstep,
PlanarRegion activePlanarRegion, ICPOptimizationQPSolver solver)
{
if (activePlanarRegion == null)
{
extractFootstepSolution(footstepSolutionToPack, unclippedFootstepSolutionToPack, upcomingFootstep, solver);
return;
}
upcomingFootstep.getPosition(referenceFootstepLocation);
referenceFootstepLocation2D.set(referenceFootstepLocation);
solver.getFootstepSolutionLocation(0, locationSolutionOnPlane);
footstepSolutionInControlPlane.set(locationSolutionOnPlane);
if (useICPControlPolygons.getBooleanValue())
icpControlPlane.projectPointFromPlaneOntoPlanarRegion(worldFrame, locationSolutionOnPlane, locationSolution, activePlanarRegion);
else
locationSolution.set(locationSolutionOnPlane);
ReferenceFrame deadbandFrame = upcomingFootstep.getSoleReferenceFrame();
previousLocationSolution.set(footstepSolutionToPack); |
<<<<<<<
=======
private static final CategoryTheme Map = apiFactory.createCategoryTheme("Map");
private static final CategoryTheme BodyPath = apiFactory.createCategoryTheme("BodyPath");
private static final CategoryTheme Cluster = apiFactory.createCategoryTheme("Cluster");
private static final CategoryTheme RawPoints = apiFactory.createCategoryTheme("RawPoints");
private static final CategoryTheme InterRegion = apiFactory.createCategoryTheme("InterRegion");
private static final CategoryTheme NavigableRegion = apiFactory.createCategoryTheme("NavigableRegion");
private static final CategoryTheme PreferredNavigableExtrusions = apiFactory.createCategoryTheme("PreferredNavigableExtrusions");
private static final CategoryTheme PreferredNonNavigableExtrusions = apiFactory.createCategoryTheme("PreferredNonNavigableExtrusions");
private static final CategoryTheme NavigableExtrusions = apiFactory.createCategoryTheme("NavigableExtrusions");
private static final CategoryTheme NonNavigableExtrusions = apiFactory.createCategoryTheme("NonNavigableExtrusions");
private static final CategoryTheme PlanarRegion = apiFactory.createCategoryTheme("PlanarRegion");
private static final CategoryTheme Start = apiFactory.createCategoryTheme("Start");
private static final CategoryTheme Goal = apiFactory.createCategoryTheme("Goal");
private static final CategoryTheme EditMode = apiFactory.createCategoryTheme("EditMode");
private static final CategoryTheme UnitTest = apiFactory.createCategoryTheme("UnitTest");
private static final CategoryTheme Dataset = apiFactory.createCategoryTheme("Dataset");
private static final CategoryTheme Previous = apiFactory.createCategoryTheme("Next");
private static final CategoryTheme Next = apiFactory.createCategoryTheme("Previous");
private static final CategoryTheme Reload = apiFactory.createCategoryTheme("Reload");
private static final CategoryTheme All = apiFactory.createCategoryTheme("All");
private static final CategoryTheme Walker = apiFactory.createCategoryTheme("Walker");
private static final CategoryTheme Offset = apiFactory.createCategoryTheme("Offset");
private static final CategoryTheme Size = apiFactory.createCategoryTheme("Size");
private static final CategoryTheme BoxSize = apiFactory.createCategoryTheme("Box");
private static final CategoryTheme Collision = apiFactory.createCategoryTheme("Collision");
private static final CategoryTheme Animation = apiFactory.createCategoryTheme("Animation");
private static final CategoryTheme Shadow = apiFactory.createCategoryTheme("Shadow");
private static final CategoryTheme RandomizeID = apiFactory.createCategoryTheme("RandomizeID");
private static final TopicTheme Parameters = apiFactory.createTopicTheme("Parameters");
private static final TypedTopicTheme<Boolean> Enable = apiFactory.createTypedTopicTheme("Enable");
private static final TypedTopicTheme<Boolean> Show = apiFactory.createTypedTopicTheme("Show");
private static final TypedTopicTheme<Boolean> Reset = apiFactory.createTypedTopicTheme("Reset");
private static final TypedTopicTheme<Boolean> Request = apiFactory.createTypedTopicTheme("Request");
private static final TypedTopicTheme<Boolean> Stop = apiFactory.createTypedTopicTheme("Stop");
private static final TypedTopicTheme<Boolean> ComputePath = apiFactory.createTypedTopicTheme("ComputePath");
private static final TypedTopicTheme<Boolean> ComputePathWithOcclusions = apiFactory.createTypedTopicTheme("ComputePathWithOcclusions");
private static final TypedTopicTheme<Point3D> Position = apiFactory.createTypedTopicTheme("Position");
private static final TypedTopicTheme<Quaternion> Orientation = apiFactory.createTypedTopicTheme("Orientation");
private static final TypedTopicTheme<Boolean> Export = apiFactory.createTypedTopicTheme("Export");
private static final TypedTopicTheme<String> Path = apiFactory.createTypedTopicTheme("Path");
private static final TypedTopicTheme<List<String>> Paths = apiFactory.createTypedTopicTheme("Paths");
>>>>>>>
<<<<<<<
public static final Topic<Boolean> VisibilityGraphsComputePath = topic("VisibilityGraphsComputePath");
public static final Topic<Boolean> VisibilityGraphsComputePathWithOcclusions = topic("VisibilityGraphsComputePathWithOcclusions");
public static final Topic<VisibilityGraphsParametersReadOnly> VisibilityGraphsParameters = topic("VisibilityGraphsParameters");
public static final Topic<Boolean> ShowBodyPath = topic("ShowBodyPath");
public static final Topic<Boolean> ShowPlanarRegions = topic("ShowPlanarRegions");
public static final Topic<Boolean> ShowClusterRawPoints = topic("ShowClusterRawPoints");
public static final Topic<Boolean> ShowClusterNavigableExtrusions = topic("ShowClusterNavigableExtrusions");
public static final Topic<Boolean> ShowClusterNonNavigableExtrusions = topic("ShowClusterNonNavigableExtrusions");
public static final Topic<Boolean> exportUnitTestDataFile = topic("exportUnitTestDataFile");
public static final Topic<String> exportUnitTestPath = topic("exportUnitTestPath");
=======
public static final Topic<Boolean> VisibilityGraphsComputePath = Root.child(VisibilityGraphs).topic(ComputePath);
public static final Topic<Boolean> VisibilityGraphsComputePathWithOcclusions = Root.child(VisibilityGraphs).topic(ComputePathWithOcclusions);
public static final Topic<VisibilityGraphsParametersReadOnly> VisibilityGraphsParameters = Root.child(VisibilityGraphs).topic(Parameters);
public static final Topic<Boolean> ShowBodyPath = Root.child(VisibilityGraphs).child(BodyPath).topic(Show);
public static final Topic<Boolean> ShowPlanarRegions = Root.child(PlanarRegion).topic(Show);
public static final Topic<Boolean> ShowClusterRawPoints = Root.child(VisibilityGraphs).child(Cluster).child(RawPoints).topic(Show);
public static final Topic<Boolean> ShowClusterPreferredNavigableExtrusions = Root.child(VisibilityGraphs).child(Cluster).child(PreferredNavigableExtrusions).topic(Show);
public static final Topic<Boolean> ShowClusterPreferredNonNavigableExtrusions = Root.child(VisibilityGraphs).child(Cluster).child(PreferredNonNavigableExtrusions).topic(Show);
public static final Topic<Boolean> ShowClusterNavigableExtrusions = Root.child(VisibilityGraphs).child(Cluster).child(NavigableExtrusions).topic(Show);
public static final Topic<Boolean> ShowClusterNonNavigableExtrusions = Root.child(VisibilityGraphs).child(Cluster).child(NonNavigableExtrusions).topic(Show);
public static final Topic<Boolean> exportUnitTestDataFile = Root.child(UnitTest).topic(Export);
public static final Topic<String> exportUnitTestPath = Root.child(UnitTest).topic(Path);
>>>>>>>
public static final Topic<Boolean> VisibilityGraphsComputePath = topic("VisibilityGraphsComputePath");
public static final Topic<Boolean> VisibilityGraphsComputePathWithOcclusions = topic("VisibilityGraphsComputePathWithOcclusions");
public static final Topic<VisibilityGraphsParametersReadOnly> VisibilityGraphsParameters = topic("VisibilityGraphsParameters");
public static final Topic<Boolean> ShowBodyPath = topic("ShowBodyPath");
public static final Topic<Boolean> ShowPlanarRegions = topic("ShowPlanarRegions");
public static final Topic<Boolean> ShowClusterRawPoints = topic("ShowClusterRawPoints");
public static final Topic<Boolean> ShowClusterPreferredNavigableExtrusions = topic("ShowClusterPreferredNavigableExtrusions");
public static final Topic<Boolean> ShowClusterPreferredNonNavigableExtrusions = topic("ShowClusterPreferredNonNavigableExtrusions");
public static final Topic<Boolean> ShowClusterNavigableExtrusions = topic("ShowClusterNavigableExtrusions");
public static final Topic<Boolean> ShowClusterNonNavigableExtrusions = topic("ShowClusterNonNavigableExtrusions");
public static final Topic<Boolean> exportUnitTestDataFile = topic("exportUnitTestDataFile");
public static final Topic<String> exportUnitTestPath = topic("exportUnitTestPath"); |
<<<<<<<
ROS2Tools.createCallbackSubscriptionTypeNamed(ros2Node, FootstepStatusMessage.class, ROS2Tools.getControllerOutputTopic(robotName),
s ->
{
messager.submitMessage(FootstepPlannerMessagerAPI.FootstepStatusMessage, s.takeNextData());
System.out.println("fdsjklsdf");
});
=======
ROS2Tools.createCallbackSubscription(ros2Node,
FootstepStatusMessage.class,
ControllerAPIDefinition.getPublisherTopicNameGenerator(robotName),
s -> messager.submitMessage(FootstepPlannerMessagerAPI.FootstepStatusMessage, s.takeNextData()));
>>>>>>>
ROS2Tools.createCallbackSubscriptionTypeNamed(ros2Node, FootstepStatusMessage.class, ROS2Tools.getControllerOutputTopic(robotName),
s -> messager.submitMessage(FootstepPlannerMessagerAPI.FootstepStatusMessage, s.takeNextData())); |
<<<<<<<
public class BulkMinusOne extends BulkTest {
private static final Value negOne = new Value("-1".getBytes(StandardCharsets.UTF_8));
=======
public class BulkMinusOne extends BulkImportTest {
private static final Value negOne = new Value("-1".getBytes(Constants.UTF8));
>>>>>>>
public class BulkMinusOne extends BulkImportTest {
private static final Value negOne = new Value("-1".getBytes(StandardCharsets.UTF_8)); |
<<<<<<<
=======
private final FramePoint exitCMP = new FramePoint();
private final FramePoint2d exitCMP2d = new FramePoint2d();
private final FrameVector2d exitCMPRayDirection2d = new FrameVector2d();
private final FrameLine2d rayThroughExitCMP = new FrameLine2d();
>>>>>>>
<<<<<<<
public OnToesState(FootControlHelper footControlHelper, ToeOffHelper toeOffHelper, YoSE3PIDGainsInterface gains, YoVariableRegistry registry)
=======
private final ReferenceFrame soleFrame;
private final FrameConvexPolygon2d footPolygon = new FrameConvexPolygon2d();
private final DoubleYoVariable toeOffContactInterpolation;
private final BooleanYoVariable hasComputedToeOffContactPoint;
public OnToesState(FootControlHelper footControlHelper, YoSE3PIDGainsInterface gains, YoVariableRegistry registry)
>>>>>>>
public OnToesState(FootControlHelper footControlHelper, ToeOffHelper toeOffHelper, YoSE3PIDGainsInterface gains, YoVariableRegistry registry)
<<<<<<<
=======
exitCMP2d.setToNaN(soleFrame);
exitCMPRayDirection2d.setIncludingFrame(soleFrame, 1.0, 0.0);
rayThroughExitCMP.setToNaN(soleFrame);
toeOffContactInterpolation = new DoubleYoVariable(namePrefix + "ToeOffContactInterpolation", registry);
toeOffContactInterpolation.set(footControlHelper.getWalkingControllerParameters().getToeOffContactInterpolation());
hasComputedToeOffContactPoint = new BooleanYoVariable(namePrefix + "HasComputedToeOffContactPoint", registry);
>>>>>>>
<<<<<<<
toeOffHelper.getToeOffContactPoint(toeOffContactPoint2d, robotSide);
=======
if (!hasComputedToeOffContactPoint.getBooleanValue())
computeToeOffContactPoint(null);
>>>>>>>
toeOffHelper.getToeOffContactPoint(toeOffContactPoint2d, robotSide); |
<<<<<<<
=======
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.NewInstantaneousCapturePointPlannerTest.class,
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.NewInstantaneousCapturePointPlannerWithSmootherTest.class,
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.SmartCMPProjectorTest.class,
>>>>>>>
us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.SmartCMPProjectorTest.class,
<<<<<<<
=======
us.ihmc.commonWalkingControlModules.momentumBasedController.MomentumOptimizerOldTest.class,
us.ihmc.commonWalkingControlModules.momentumBasedController.MomentumSolverTest.class,
>>>>>>>
us.ihmc.commonWalkingControlModules.momentumBasedController.MomentumSolverTest.class,
<<<<<<<
=======
us.ihmc.commonWalkingControlModules.trajectories.StraightUpThenParabolicCartesianTrajectoryGeneratorTest.class,
us.ihmc.commonWalkingControlModules.trajectories.SwingHeightTrajectoryCalculatorTest.class,
us.ihmc.commonWalkingControlModules.trajectories.TakeoffLandingCartesianTrajectoryGeneratorTest.class,
us.ihmc.commonWalkingControlModules.trajectories.ThreePointDoubleSplines1DTest.class,
us.ihmc.commonWalkingControlModules.trajectories.ThreePointDoubleSplines2DTest.class,
>>>>>>>
us.ihmc.commonWalkingControlModules.trajectories.ThreePointDoubleSplines2DTest.class,
<<<<<<<
=======
us.ihmc.commonWalkingControlModules.trajectories.ZeroToOneParabolicVelocityTrajectoryGeneratorTest.class,
us.ihmc.commonWalkingControlModules.wrenchDistribution.ContactPointWrenchMatrixCalculatorTest.class,
us.ihmc.commonWalkingControlModules.wrenchDistribution.GroundReactionWrenchDistributorTest.class,
>>>>>>>
us.ihmc.commonWalkingControlModules.wrenchDistribution.GroundReactionWrenchDistributorTest.class, |
<<<<<<<
balanceManager.initializeICPPlanForTransfer(defaultSwingTime, defaultTransferTime, finalTransferTime);
kneeAngleManager.beginStraightening(transferToSide);
}
@Override
public void doAction()
{
super.doAction();
double transferDuration = walkingMessageHandler.peekTiming(0).getTransferTime();
if (getTimeInCurrentState() > percentOfTransferToCollapseLeg.getDoubleValue() * transferDuration)
{
kneeAngleManager.collapseLegDuringTransfer(transferToSide);
}
=======
balanceManager.initializeICPPlanForTransfer(finalTransferTime);
>>>>>>>
balanceManager.initializeICPPlanForTransfer(finalTransferTime);
kneeAngleManager.beginStraightening(transferToSide);
}
@Override
public void doAction()
{
super.doAction();
double transferDuration = walkingMessageHandler.peekTiming(0).getTransferTime();
if (getTimeInCurrentState() > percentOfTransferToCollapseLeg.getDoubleValue() * transferDuration)
{
kneeAngleManager.collapseLegDuringTransfer(transferToSide);
} |
<<<<<<<
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.ICPControlGains;
=======
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.ICPControlPlane;
>>>>>>>
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.YoICPControlGains;
<<<<<<<
=======
import us.ihmc.commonWalkingControlModules.bipedSupportPolygons.YoPlaneContactState;
import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.YoICPControlGains;
>>>>>>>
<<<<<<<
private final FramePoint2D capturePoint2d = new FramePoint2D();
private final FramePoint3D desiredCapturePoint = new FramePoint3D();
private final FramePoint3D finalDesiredCapturePoint = new FramePoint3D();
private final FrameVector3D desiredCapturePointVelocity = new FrameVector3D();
private final FramePoint2D desiredCapturePoint2d = new FramePoint2D();
private final FramePoint2D finalDesiredCapturePoint2d = new FramePoint2D();
private final FrameVector2D desiredCapturePointVelocity2d = new FrameVector2D();
=======
private final FramePoint2d capturePoint2d = new FramePoint2d();
private final FramePoint desiredCapturePoint = new FramePoint();
private final FramePoint finalDesiredCapturePoint = new FramePoint();
private final FrameVector desiredCapturePointVelocity = new FrameVector();
private final FramePoint2d desiredCapturePoint2d = new FramePoint2d();
private final FramePoint2d finalDesiredCapturePoint2d = new FramePoint2d();
private final FrameVector2d desiredCapturePointVelocity2d = new FrameVector2d();
private final FramePoint2d perfectCMP = new FramePoint2d();
>>>>>>>
private final FramePoint2D capturePoint2d = new FramePoint2D();
private final FramePoint3D desiredCapturePoint = new FramePoint3D();
private final FramePoint3D finalDesiredCapturePoint = new FramePoint3D();
private final FrameVector3D desiredCapturePointVelocity = new FrameVector3D();
private final FramePoint2D desiredCapturePoint2d = new FramePoint2D();
private final FramePoint2D finalDesiredCapturePoint2d = new FramePoint2D();
private final FrameVector2D desiredCapturePointVelocity2d = new FrameVector2D();
private final FramePoint2D perfectCMP = new FramePoint2D(); |
<<<<<<<
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.dataStructures.variable.DoubleYoVariable;
import us.ihmc.robotics.dataStructures.variable.EnumYoVariable;
import us.ihmc.robotics.geometry.FramePoint;
=======
import us.ihmc.robotics.controllers.YoPDGains;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoEnum;
>>>>>>>
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.controllers.YoPDGains;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoEnum;
<<<<<<<
kneePitchJoint = controllerToolbox.getFullRobotModel().getLegJoint(robotSide, LegJointName.KNEE_PITCH);
=======
activelyControl = new YoBoolean(namePrefix + "ActivelyControl", registry);
activelyControl.set(false);
jointspaceWeight = new YoDouble(namePrefix + "JointspaceWeight", registry);
jointspaceWeight.set(1.0);
jointspaceGains = new YoPDGains(namePrefix, registry);
jointspaceGains.setKp(40.0);
jointspaceGains.setKd(6.0);
OneDoFJoint kneePitchJoint = controllerToolbox.getFullRobotModel().getLegJoint(robotSide, LegJointName.KNEE_PITCH);
>>>>>>>
kneePitchJoint = controllerToolbox.getFullRobotModel().getLegJoint(robotSide, LegJointName.KNEE_PITCH);
<<<<<<<
desiredAngleWhenStraight = new DoubleYoVariable(namePrefix + "DesiredAngleWhenStraight", registry);
=======
computeCoupledPrivilegedLegAccelerations = new YoBoolean(sidePrefix + "ComputeCoupledPrivilegedLegAccelerations", registry);
computeCoupledPrivilegedLegAccelerations.set(straightLegWalkingParameters.couplePrivilegedAccelerationsForTheLegPitch());
desiredAngle = new YoDouble(namePrefix + "DesiredAngle", registry);
desiredAngle.set(straightLegWalkingParameters.getStraightKneeAngle());
desiredAngleWhenStraight = new YoDouble(namePrefix + "DesiredAngleWhenStraight", registry);
>>>>>>>
desiredAngleWhenStraight = new YoDouble(namePrefix + "DesiredAngleWhenStraight", registry);
<<<<<<<
public StraightenToStraightControlState(DoubleYoVariable straighteningSpeed)
=======
public StraightenToStraightControlState(OneDoFJoint hipPitchJoint, OneDoFJoint kneePitchJoint, OneDoFJoint anklePitchJoint,
YoDouble straighteningSpeed)
>>>>>>>
public StraightenToStraightControlState(YoDouble straighteningSpeed)
<<<<<<<
public StraightenToControllableControlState(DoubleYoVariable straighteningSpeed)
=======
public StraightenToControllableControlState(OneDoFJoint hipPitchJoint, OneDoFJoint kneePitchJoint, OneDoFJoint anklePitchJoint,
YoDouble straighteningSpeed)
>>>>>>>
public StraightenToControllableControlState(YoDouble straighteningSpeed)
<<<<<<<
private final DoubleYoVariable yoStraighteningSpeed;
=======
private static final int hipPitchJointIndex = 0;
private static final int kneePitchJointIndex = 1;
private static final int anklePitchJointIndex = 2;
private final OneDoFJoint kneePitchJoint;
private final YoDouble yoStraighteningSpeed;
>>>>>>>
private final YoDouble yoStraighteningSpeed;
<<<<<<<
public StraighteningKneeControlState(LegConfigurationType stateEnum, DoubleYoVariable straighteningSpeed)
=======
public StraighteningKneeControlState(LegConfigurationType stateEnum, OneDoFJoint hipPitchJoint, OneDoFJoint kneePitchJoint, OneDoFJoint anklePitchJoint,
YoDouble straighteningSpeed)
>>>>>>>
public StraighteningKneeControlState(LegConfigurationType stateEnum, YoDouble straighteningSpeed) |
<<<<<<<
=======
import us.ihmc.humanoidRobotics.communication.packets.BumStatePacket;
>>>>>>>
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.EuclideanWaypointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangeMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.EuclideanTrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangePacket;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStatePacket;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.EuclideanTrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateChangeMessage;
import us.ihmc.humanoidRobotics.communication.packets.HighLevelStateMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.SE3WaypointMessage;
import us.ihmc.humanoidRobotics.communication.packets.SO3WaypointMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.SE3TrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.SO3TrajectoryPointMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.SE3TrajectoryPointMessage;
import us.ihmc.humanoidRobotics.communication.packets.SO3TrajectoryPointMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.Waypoint1DMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.TrajectoryPoint1DMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.TrajectoryPoint1DMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage.ArmControlMode;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmTrajectoryMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmTrajectoryMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage.ArmControlMode;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmOneJointTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmTrajectoryMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
=======
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandStatePacket;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.HandTrajectoryMessage.BaseForControl;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.manipulation.Trajectory1DMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmOneJointTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.manipulation.ArmDesiredAccelerationsMessage.ArmControlMode;
>>>>>>>
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.LoadBearingRequest;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.EndEffector;
import us.ihmc.humanoidRobotics.communication.packets.walking.EndEffectorLoadBearingMessage.LoadBearingRequest;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.FootPosePacket;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootStatePacket;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.FootTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataListMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.FootstepDataMessage;
<<<<<<<
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisOrientationTrajectoryMessage;
=======
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
>>>>>>>
import us.ihmc.humanoidRobotics.communication.packets.walking.PauseWalkingMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisHeightTrajectoryMessage;
import us.ihmc.humanoidRobotics.communication.packets.walking.PelvisOrientationTrajectoryMessage;
<<<<<<<
registerPacketClass(AutomaticManipulationAbortMessage.class);
=======
registerPacketClass(AutomaticManipulationAbortPacket.class);
>>>>>>>
registerPacketClass(AutomaticManipulationAbortMessage.class);
<<<<<<<
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
=======
registerPacketClass(HandStatePacket.class);
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
registerPacketClass(HandLoadBearingPacket.class);
>>>>>>>
registerPacketClass(HandDesiredConfigurationMessage.class);
registerPacketField(HandConfiguration.class);
<<<<<<<
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(LoadBearingRequest.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(PelvisOrientationTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
registerPacketClass(GoHomeMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(Trajectory1DMessage.class);
registerPacketClass(Waypoint1DMessage.class);
registerPacketClass(EuclideanWaypointMessage.class);
registerPacketClass(SO3WaypointMessage.class);
registerPacketClass(SE3WaypointMessage.class);
registerPacketClass(BodyPart.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(Trajectory1DMessage.class);
registerPacketField(Trajectory1DMessage[].class);
registerPacketField(Waypoint1DMessage.class);
registerPacketField(Waypoint1DMessage[].class);
registerPacketField(EuclideanWaypointMessage.class);
registerPacketField(EuclideanWaypointMessage[].class);
registerPacketField(SO3WaypointMessage.class);
registerPacketField(SO3WaypointMessage[].class);
registerPacketField(SE3WaypointMessage.class);
registerPacketField(SE3WaypointMessage[].class);
registerPacketField(BodyPart.class);
=======
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(ArmOneJointTrajectoryMessage.class);
registerPacketClass(TrajectoryPoint1DMessage.class);
registerPacketClass(EuclideanTrajectoryPointMessage.class);
registerPacketClass(SO3TrajectoryPointMessage.class);
registerPacketClass(SE3TrajectoryPointMessage.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(ArmOneJointTrajectoryMessage.class);
registerPacketField(ArmOneJointTrajectoryMessage[].class);
registerPacketField(TrajectoryPoint1DMessage.class);
registerPacketField(TrajectoryPoint1DMessage[].class);
registerPacketField(EuclideanTrajectoryPointMessage.class);
registerPacketField(EuclideanTrajectoryPointMessage[].class);
registerPacketField(SO3TrajectoryPointMessage.class);
registerPacketField(SO3TrajectoryPointMessage[].class);
registerPacketField(SE3TrajectoryPointMessage.class);
registerPacketField(SE3TrajectoryPointMessage[].class);
>>>>>>>
// Endeffector load bearing message
registerPacketClass(EndEffectorLoadBearingMessage.class);
registerPacketClass(LoadBearingRequest.class);
registerPacketClass(EndEffector.class);
// User arm control mode
registerPacketClass(ArmDesiredAccelerationsMessage.class);
// Trajectory messages
registerPacketClass(HandTrajectoryMessage.class);
registerPacketClass(ArmTrajectoryMessage.class);
registerPacketClass(HeadTrajectoryMessage.class);
registerPacketClass(ChestTrajectoryMessage.class);
registerPacketClass(PelvisTrajectoryMessage.class);
registerPacketClass(PelvisOrientationTrajectoryMessage.class);
registerPacketClass(FootTrajectoryMessage.class);
registerPacketClass(WholeBodyTrajectoryMessage.class);
registerPacketClass(PelvisHeightTrajectoryMessage.class);
registerPacketClass(StopAllTrajectoryMessage.class);
registerPacketClass(GoHomeMessage.class);
// Trajectory message fields
registerPacketClass(BaseForControl.class);
registerPacketClass(ArmOneJointTrajectoryMessage.class);
registerPacketClass(TrajectoryPoint1DMessage.class);
registerPacketClass(EuclideanTrajectoryPointMessage.class);
registerPacketClass(SO3TrajectoryPointMessage.class);
registerPacketClass(SE3TrajectoryPointMessage.class);
registerPacketClass(BodyPart.class);
registerPacketField(ArmControlMode.class);
registerPacketField(BaseForControl.class);
registerPacketField(ArmOneJointTrajectoryMessage.class);
registerPacketField(ArmOneJointTrajectoryMessage[].class);
registerPacketField(TrajectoryPoint1DMessage.class);
registerPacketField(TrajectoryPoint1DMessage[].class);
registerPacketField(EuclideanTrajectoryPointMessage.class);
registerPacketField(EuclideanTrajectoryPointMessage[].class);
registerPacketField(SO3TrajectoryPointMessage.class);
registerPacketField(SO3TrajectoryPointMessage[].class);
registerPacketField(SE3TrajectoryPointMessage.class);
registerPacketField(SE3TrajectoryPointMessage[].class);
registerPacketField(BodyPart.class); |
<<<<<<<
import us.ihmc.euclid.referenceFrame.FramePoint2D;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameQuaternion;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
=======
import us.ihmc.euclid.referenceFrame.*;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint2DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.tools.EuclidCoreTestTools;
>>>>>>>
import us.ihmc.euclid.referenceFrame.*;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint2DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.tools.EuclidCoreTestTools;
import us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools;
<<<<<<<
plannerParameters = null;
ReferenceFrameTools.clearWorldFrameTree();
=======
numberOfUpcomingFootsteps.set(0);
upcomingFootstepsData.clear();
>>>>>>>
numberOfUpcomingFootsteps.set(0);
upcomingFootstepsData.clear();
ReferenceFrameTools.clearWorldFrameTree(); |
<<<<<<<
import us.ihmc.footstepPlanning.aStar.implementations.DistanceAndYawBasedCost;
import us.ihmc.footstepPlanning.aStar.implementations.DistanceAndYawBasedHeuristics;
import us.ihmc.footstepPlanning.aStar.implementations.ReachableFootstepsBasedExpansion;
import us.ihmc.footstepPlanning.aStar.implementations.SimpleNodeChecker;
import us.ihmc.footstepPlanning.aStar.implementations.SimpleSideBasedExpansion;
import us.ihmc.footstepPlanning.aStar.implementations.SnapBasedNodeChecker;
import us.ihmc.footstepPlanning.polygonSnapping.PlanarRegionsListPolygonSnapper;
=======
import us.ihmc.footstepPlanning.aStar.implementations.*;
>>>>>>>
import us.ihmc.footstepPlanning.aStar.implementations.*;
import us.ihmc.footstepPlanning.polygonSnapping.PlanarRegionsListPolygonSnapper;
<<<<<<<
/**
* This class implements the Astar footstep planner which is a graph based search planner.
*/
=======
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
>>>>>>>
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
<<<<<<<
SimpleNodeChecker nodeChecker = new SimpleNodeChecker();
// SimpleSideBasedExpansion expansion = new SimpleSideBasedExpansion();
ReachableFootstepsBasedExpansion expansion = new ReachableFootstepsBasedExpansion();
=======
double yawWeight = 0.1;
AlwaysValidNodeChecker nodeChecker = new AlwaysValidNodeChecker();
SimpleSideBasedExpansion expansion = new SimpleSideBasedExpansion();
FlatGroundFootstepNodeSnapper snapper = new FlatGroundFootstepNodeSnapper(footPolygons);
>>>>>>>
double yawWeight = 0.1;
AlwaysValidNodeChecker nodeChecker = new AlwaysValidNodeChecker();
// SimpleSideBasedExpansion expansion = new SimpleSideBasedExpansion();
ReachableFootstepsBasedExpansion expansion = new ReachableFootstepsBasedExpansion();
FlatGroundFootstepNodeSnapper snapper = new FlatGroundFootstepNodeSnapper(footPolygons); |
<<<<<<<
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.PIDGains;
import us.ihmc.robotics.controllers.YoOrientationPIDGainsInterface;
import us.ihmc.robotics.controllers.YoPositionPIDGainsInterface;
import us.ihmc.robotics.controllers.YoSE3PIDGainsInterface;
=======
import us.ihmc.robotics.controllers.YoPDGains;
import us.ihmc.robotics.controllers.YoPIDGains;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains;
>>>>>>>
import us.ihmc.robotics.controllers.PDGains;
import us.ihmc.robotics.controllers.PIDGains;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.YoPIDSE3Gains; |
<<<<<<<
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoEnum;
=======
>>>>>>>
<<<<<<<
plannerMap.put(Planners.PLANAR_REGION_BIPEDAL, createPlanarRegionBipedalPlanner(contactPointsInSoleFrame));
plannerMap.put(Planners.PLAN_THEN_SNAP, new PlanThenSnapPlanner(new TurnWalkTurnPlanner(), contactPointsInSoleFrame));
plannerMap.put(Planners.A_STAR, AStarFootstepPlanner.createDefaultPlanner(null));
activePlanner.set(Planners.PLANAR_REGION_BIPEDAL);
=======
plannerMap.put(Planners.PLANAR_REGION_BIPEDAL, createPlanarRegionBipedalPlanner(planningPolygonsInSoleFrame, controllerPolygonsInSoleFrame));
plannerMap.put(Planners.PLAN_THEN_SNAP, new PlanThenSnapPlanner(new TurnWalkTurnPlanner(), planningPolygonsInSoleFrame));
plannerMap.put(Planners.A_STAR, AStarFootstepPlanner.createRoughTerrainPlanner(null, planningPolygonsInSoleFrame));
activePlanner.set(Planners.A_STAR);
>>>>>>>
plannerMap.put(Planners.PLANAR_REGION_BIPEDAL, createPlanarRegionBipedalPlanner(contactPointsInSoleFrame));
plannerMap.put(Planners.PLAN_THEN_SNAP, new PlanThenSnapPlanner(new TurnWalkTurnPlanner(), contactPointsInSoleFrame));
plannerMap.put(Planners.A_STAR, AStarFootstepPlanner.createRoughTerrainPlanner(null, contactPointsInSoleFrame));
activePlanner.set(Planners.PLANAR_REGION_BIPEDAL); |
<<<<<<<
private BehaviorDispatcher<HumanoidBehaviorType> setupBehaviorDispatcher(String robotName, FullHumanoidRobotModel fullRobotModel, ROS2Node ros2Node,
YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry registry)
=======
private BehaviorDispatcher<HumanoidBehaviorType> setupBehaviorDispatcher(String robotName, FullHumanoidRobotModel fullRobotModel, Ros2Node ros2Node,
YoGraphicsListRegistry yoGraphicsListRegistry, YoRegistry registry)
>>>>>>>
private BehaviorDispatcher<HumanoidBehaviorType> setupBehaviorDispatcher(String robotName, FullHumanoidRobotModel fullRobotModel, ROS2Node ros2Node,
YoGraphicsListRegistry yoGraphicsListRegistry, YoRegistry registry) |
<<<<<<<
=======
import us.ihmc.footstepPlanning.SimpleFootstep;
import us.ihmc.footstepPlanning.graphSearch.PlanarRegionBipedalFootstepPlanner;
>>>>>>>
import us.ihmc.footstepPlanning.graphSearch.PlanarRegionBipedalFootstepPlanner;
<<<<<<<
=======
if (footstepPlan == null)
return result;
int numberOfSteps = footstepPlan.getNumberOfSteps();
for (int i = 0; i < numberOfSteps; i++)
{
SimpleFootstep footstep = footstepPlan.getFootstep(i);
FramePose footstepPose = new FramePose();
footstep.getSoleFramePose(footstepPose);
Point3d location = new Point3d();
Quat4d orientation = new Quat4d();
footstepPose.getPosition(location);
footstepPose.getOrientation(orientation);
FootstepDataMessage footstepData = new FootstepDataMessage(footstep.getRobotSide(), location, orientation);
footstepData.setOrigin(FootstepOrigin.AT_SOLE_FRAME);
result.footstepDataList.add(footstepData);
}
>>>>>>> |
<<<<<<<
import us.ihmc.euclid.matrix.Matrix3D;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
=======
import us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly;
import us.ihmc.robotics.controllers.YoPositionPIDGainsInterface;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D;
>>>>>>>
import us.ihmc.euclid.matrix.Matrix3D;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D; |
<<<<<<<
import us.ihmc.robotics.controllers.pidGains.GainCoupling;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultYoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint;
=======
import us.ihmc.euclid.matrix.interfaces.Matrix3DReadOnly;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint3D;
>>>>>>>
import us.ihmc.robotics.controllers.pidGains.GainCoupling;
import us.ihmc.robotics.controllers.pidGains.PID3DGainsReadOnly;
import us.ihmc.robotics.controllers.pidGains.YoPID3DGains;
import us.ihmc.robotics.controllers.pidGains.implementations.DefaultYoPID3DGains;
import us.ihmc.robotics.geometry.FramePoint3D;
<<<<<<<
private final FrameVector proportionalTerm;
private final FrameVector derivativeTerm;
private final FrameVector integralTerm;
private final FramePoint desiredPosition = new FramePoint();
private final FrameVector desiredVelocity = new FrameVector();
private final FrameVector feedForwardLinearAction = new FrameVector();
private final FrameVector actionFromPositionController = new FrameVector();
=======
private final FrameVector3D proportionalTerm;
private final FrameVector3D derivativeTerm;
private final FrameVector3D integralTerm;
private final FramePoint3D desiredPosition = new FramePoint3D();
private final FrameVector3D desiredVelocity = new FrameVector3D();
private final FrameVector3D feedForwardLinearAction = new FrameVector3D();
private final FrameVector3D actionFromPositionController = new FrameVector3D();
>>>>>>>
private final FrameVector3D proportionalTerm;
private final FrameVector3D derivativeTerm;
private final FrameVector3D integralTerm;
private final FramePoint3D desiredPosition = new FramePoint3D();
private final FrameVector3D desiredVelocity = new FrameVector3D();
private final FrameVector3D feedForwardLinearAction = new FrameVector3D();
private final FrameVector3D actionFromPositionController = new FrameVector3D();
<<<<<<<
private void computeDerivativeTerm(FrameVector desiredVelocity, FrameVector currentVelocity)
=======
private final Matrix3D tempMatrix = new Matrix3D();
private void computeDerivativeTerm(FrameVector3D desiredVelocity, FrameVector3D currentVelocity)
>>>>>>>
private void computeDerivativeTerm(FrameVector3D desiredVelocity, FrameVector3D currentVelocity) |
<<<<<<<
private final YoFramePoint yoSingleSupportFinalCoM;
private final FramePoint singleSupportFinalCoM = new FramePoint();
public SmoothCMPBasedICPPlanner(BipedSupportPolygons bipedSupportPolygons, SideDependentList<? extends ContactablePlaneBody> contactableFeet,
int maxNumberOfFootstepsToConsider, int numberOfPointsPerFoot, YoVariableRegistry parentRegistry,
YoGraphicsListRegistry yoGraphicsListRegistry)
=======
private final FullHumanoidRobotModel fullRobotModel;
private final double gravityZ;
public SmoothCMPBasedICPPlanner(FullHumanoidRobotModel fullRobotModel, BipedSupportPolygons bipedSupportPolygons,
SideDependentList<? extends ContactablePlaneBody> contactableFeet, int maxNumberOfFootstepsToConsider,
int numberOfPointsPerFoot, YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry, double gravityZ)
>>>>>>>
private final FullHumanoidRobotModel fullRobotModel;
private final double gravityZ;
private final YoFramePoint yoSingleSupportFinalCoM;
private final FramePoint singleSupportFinalCoM = new FramePoint();
public SmoothCMPBasedICPPlanner(FullHumanoidRobotModel fullRobotModel, BipedSupportPolygons bipedSupportPolygons,
SideDependentList<? extends ContactablePlaneBody> contactableFeet, int maxNumberOfFootstepsToConsider,
int numberOfPointsPerFoot, YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry, double gravityZ)
<<<<<<<
=======
this.fullRobotModel = fullRobotModel;
>>>>>>>
this.fullRobotModel = fullRobotModel;
<<<<<<<
referenceICPGenerator.getFinalCoMPositionInSwing(singleSupportFinalCoM);
yoSingleSupportFinalCoM.set(singleSupportFinalCoM);
=======
throw new RuntimeException("to implement"); //TODO Later
>>>>>>>
referenceICPGenerator.getFinalCoMPositionInSwing(singleSupportFinalCoM);
yoSingleSupportFinalCoM.set(singleSupportFinalCoM); |
<<<<<<<
import us.ihmc.commonWalkingControlModules.heightPlanning.CoMHeightTimeDerivativesData;
import us.ihmc.commonWalkingControlModules.momentumBasedController.HighLevelHumanoidControllerToolbox;
=======
import us.ihmc.commonWalkingControlModules.momentumBasedController.HighLevelHumanoidControllerToolbox;
import us.ihmc.commonWalkingControlModules.heightPlanning.YoCoMHeightTimeDerivativesData;
>>>>>>>
import us.ihmc.commonWalkingControlModules.heightPlanning.YoCoMHeightTimeDerivativesData;
import us.ihmc.commonWalkingControlModules.momentumBasedController.HighLevelHumanoidControllerToolbox; |
<<<<<<<
String namePrefix = pelvisName + FeedbackControllerDataReadOnly.Type.ERROR.getName() + FeedbackControllerDataReadOnly.Space.ROTATION_VECTOR.getName();
String varName = YoGeometryNameTools.createZName(namePrefix, "");
return (YoDouble) scs.findVariable(FeedbackControllerToolbox.class.getSimpleName(), varName);
=======
String namePrefix = pelvisName + Type.ERROR.getName() + SpaceData3D.ROTATION_VECTOR.getName();
String varName = YoFrameVariableNameTools.createZName(namePrefix, "");
return (YoDouble) scs.getVariable(FeedbackControllerToolbox.class.getSimpleName(), varName);
>>>>>>>
String namePrefix = pelvisName + Type.ERROR.getName() + SpaceData3D.ROTATION_VECTOR.getName();
String varName = YoGeometryNameTools.createZName(namePrefix, "");
return (YoDouble) scs.findVariable(FeedbackControllerToolbox.class.getSimpleName(), varName); |
<<<<<<<
=======
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoInteger;
>>>>>>>
import us.ihmc.yoVariables.registry.YoVariableRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoInteger; |
<<<<<<<
if (USE_NEW_MULTIPLIER_CALCULATOR)
{
stateMultiplierCalculator = new NewStateMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime, defaultDoubleSupportSplitFraction,
upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
footstepRecursionMultiplierCalculator = null;
}
else
{
footstepRecursionMultiplierCalculator = new FootstepRecursionMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime,
defaultDoubleSupportSplitFraction, upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
stateMultiplierCalculator = null;
}
=======
stateMultiplierCalculator = new StateMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime, doubleSupportSplitFraction,
doubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
>>>>>>>
stateMultiplierCalculator = new StateMultiplierCalculator(icpPlannerParameters, exitCMPDurationInPercentOfStepTime, defaultDoubleSupportSplitFraction,
upcomingDoubleSupportSplitFraction, maximumNumberOfFootstepsToConsider, registry);
<<<<<<<
footstepRecursionMultiplierCalculator, stateMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime,
upcomingDoubleSupportSplitFraction, VISUALIZE, USE_NEW_MULTIPLIER_CALCULATOR, registry, yoGraphicsListRegistry);
=======
stateMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime, VISUALIZE, registry, yoGraphicsListRegistry);
>>>>>>>
stateMultiplierCalculator, doubleSupportDuration, singleSupportDuration, exitCMPDurationInPercentOfStepTime, VISUALIZE, registry, yoGraphicsListRegistry);
<<<<<<<
footstepRecursionMultiplierCalculator.computeRecursionMultipliers(numberOfFootstepsToConsider, isInTransfer.getBooleanValue(), useTwoCMPs, omega0);
for (int i = 1; i < numberOfFootstepsToConsider + 1; i++)
footstepRecursionMultiplierCalculator.submitTimes(i, doubleSupportDuration.getDoubleValue(), singleSupportDuration.getDoubleValue());
=======
for (int i = 1; i < numberOfFootstepsToConsider + 1; i++)
stateMultiplierCalculator.submitTimes(i, doubleSupportDuration.getDoubleValue(), singleSupportDuration.getDoubleValue());
>>>>>>>
for (int i = 1; i < numberOfFootstepsToConsider + 1; i++)
stateMultiplierCalculator.submitTimes(i, doubleSupportDuration.getDoubleValue(), singleSupportDuration.getDoubleValue());
<<<<<<<
=======
inputHandler.update(timeInCurrentState.getDoubleValue(), useTwoCMPs, isInTransfer.getBooleanValue(), omega0);
inputHandler.computeFinalICPRecursion(finalICPRecursion, numberOfFootstepsToConsider, useTwoCMPs, isInTransfer.getBooleanValue(), omega0);
inputHandler.computeCMPConstantEffects(cmpConstantEffects, beginningOfStateICP.getFrameTuple2d(), beginningOfStateICPVelocity.getFrameTuple2d(),
upcomingFootstepLocations, numberOfFootstepsToConsider, useTwoCMPs, isInTransfer.getBooleanValue());
>>>>>>> |
<<<<<<<
try (Scanner s = c.createScanner(tableName, Authorizations.EMPTY)) {
s.setRange(MetadataSchema.TabletsSection.getRange());
s.fetchColumnFamily(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME);
MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN.fetch(s);
String location = null;
for (Entry<Key,Value> entry : s) {
Key key = entry.getKey();
if (key.getColumnFamily().equals(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME)) {
location = key.getColumnQualifier().toString();
} else if (MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN.hasColumns(key)) {
if (location == null) {
offline++;
} else {
Integer count = counts.get(location);
if (count == null)
count = 0;
count = count + 1;
counts.put(location, count);
}
location = null;
=======
final Scanner s = c.createScanner(tableName, Authorizations.EMPTY);
s.setRange(MetadataSchema.TabletsSection.getRange());
s.fetchColumnFamily(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME);
MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN.fetch(s);
String location = null;
for (Entry<Key,Value> entry : s) {
Key key = entry.getKey();
if (key.getColumnFamily()
.equals(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME)) {
location = key.getColumnQualifier().toString();
} else if (MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN
.hasColumns(key)) {
if (location == null) {
offline++;
} else {
Integer count = counts.get(location);
if (count == null)
count = Integer.valueOf(0);
count = Integer.valueOf(count.intValue() + 1);
counts.put(location, count);
>>>>>>>
try (Scanner s = c.createScanner(tableName, Authorizations.EMPTY)) {
s.setRange(MetadataSchema.TabletsSection.getRange());
s.fetchColumnFamily(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME);
MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN.fetch(s);
String location = null;
for (Entry<Key,Value> entry : s) {
Key key = entry.getKey();
if (key.getColumnFamily()
.equals(MetadataSchema.TabletsSection.CurrentLocationColumnFamily.NAME)) {
location = key.getColumnQualifier().toString();
} else if (MetadataSchema.TabletsSection.TabletColumnFamily.PREV_ROW_COLUMN
.hasColumns(key)) {
if (location == null) {
offline++;
} else {
Integer count = counts.get(location);
if (count == null)
count = 0;
count = count + 1;
counts.put(location, count);
}
location = null; |
<<<<<<<
public boolean isValidTrajectory()
{
return (getYoTrajectoryX().isValidTrajectory() && getYoTrajectoryY().isValidTrajectory() && getYoTrajectoryZ().isValidTrajectory());
}
=======
public void set(Trajectory3D trajToCopy)
{
for (int index = 0; index < 3; index++)
getYoTrajectory(index).set(trajToCopy.getTrajectory(index));
}
>>>>>>>
public boolean isValidTrajectory()
{
return (getYoTrajectoryX().isValidTrajectory() && getYoTrajectoryY().isValidTrajectory() && getYoTrajectoryZ().isValidTrajectory());
}
public void set(Trajectory3D trajToCopy)
{
for (int index = 0; index < 3; index++)
getYoTrajectory(index).set(trajToCopy.getTrajectory(index));
} |
<<<<<<<
private ArrayList<YoVariable<?>> variables = new ArrayList<>();
=======
private List<YoVariable> variables;
>>>>>>>
private ArrayList<YoVariable> variables = new ArrayList<>();
<<<<<<<
=======
LogTools.info("Buffer size: {}", bufferSize);
LogTools.info("Number of YoVariables: {}", registry.getNumberOfVariables());
LogTools.info("Number of joint states: {}", numberOfJointStates);
>>>>>>>
<<<<<<<
compressedBuffer = ByteBuffer.allocate(SnappyUtils.maxCompressedLength(bufferSize));
for (RegistrySendBufferBuilder registrySendBufferBuilder : registrySendBufferBuilders)
{
variables.addAll(registrySendBufferBuilder.getYoVariableRegistry().getAllVariables());
}
=======
variables = registry.collectSubtreeVariables();
>>>>>>>
compressedBuffer = ByteBuffer.allocate(SnappyUtils.maxCompressedLength(bufferSize));
for (RegistrySendBufferBuilder registrySendBufferBuilder : registrySendBufferBuilders)
{
variables.addAll(registrySendBufferBuilder.getYoVariableRegistry().collectSubtreeVariables());
} |
<<<<<<<
import us.ihmc.communication.packets.Packet;
import us.ihmc.continuousIntegration.ContinuousIntegrationAnnotations.ContinuousIntegrationTest;
=======
>>>>>>>
import us.ihmc.communication.packets.Packet;
import us.ihmc.continuousIntegration.ContinuousIntegrationAnnotations.ContinuousIntegrationTest; |
<<<<<<<
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.transform.RigidBodyTransform;
=======
>>>>>>>
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
<<<<<<<
import us.ihmc.yoVariables.variable.YoBoolean;
import us.ihmc.yoVariables.variable.YoDouble;
=======
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
>>>>>>>
import us.ihmc.robotics.referenceFrames.ReferenceFrame; |
<<<<<<<
// TODO Auto-generated method stub
=======
>>>>>>> |
<<<<<<<
import us.ihmc.commonWalkingControlModules.configurations.CapturePointPlannerParameters;
import us.ihmc.commonWalkingControlModules.configurations.LeapOfFaithParameters;
=======
import us.ihmc.commonWalkingControlModules.configurations.ICPWithTimeFreezingPlannerParameters;
>>>>>>>
import us.ihmc.commonWalkingControlModules.configurations.LeapOfFaithParameters;
import us.ihmc.commonWalkingControlModules.configurations.ICPWithTimeFreezingPlannerParameters; |
<<<<<<<
import us.ihmc.robotics.geometry.Direction;
import us.ihmc.robotics.geometry.FramePoint3D;
import us.ihmc.robotics.geometry.FrameVector3D;
=======
>>>>>>> |
<<<<<<<
planarRegionPublisher = ROS2Tools.createPublisher(ros2Node, PlanarRegionsListMessage.class, topicName);
=======
planarRegionPublisher = new IHMCROS2Publisher<>(ros2Node, PlanarRegionsListMessage.class, ROS2Tools.REA.withOutput()); // TODO add name "visible"
>>>>>>>
planarRegionPublisher = new IHMCROS2Publisher<>(ros2Node, PlanarRegionsListMessage.class, topicName); // TODO add name "visible" |
<<<<<<<
private static final FrameEuclideanTrajectoryPoint tempVariableForSetting = new FrameEuclideanTrajectoryPoint();
private final List<CoPPointName> copPointsList = new ArrayList<>(CoPPointName.values.length); // List of CoP way points defined for this footstep. Hopefully this does not create garbage
private final EnumMap<CoPPointName, CoPTrajectoryPoint> copLocations = new EnumMap<>(CoPPointName.class); // Location of CoP points defined
private final EnumMap<CoPPointName, YoFramePoint> copLocationsInWorldFrameReadOnly = new EnumMap<>(CoPPointName.class); // YoFramePoints for visualization
=======
>>>>>>>
private static final FrameEuclideanTrajectoryPoint tempVariableForSetting = new FrameEuclideanTrajectoryPoint();
<<<<<<<
private final YoFramePointInMultipleFrames swingFootCentroid;
private final YoFramePointInMultipleFrames supportFootCentroid;
=======
private final int stepNumber;
>>>>>>>
private final List<CoPPointName> copPointsList = new ArrayList<>(CoPPointName.values.length); // List of CoP way points defined for this footstep. Hopefully this does not create garbage
private final EnumMap<CoPPointName, CoPTrajectoryPoint> copLocations = new EnumMap<>(CoPPointName.class); // Location of CoP points defined
private final EnumMap<CoPPointName, YoFramePoint> copLocationsInWorldFrameReadOnly = new EnumMap<>(CoPPointName.class); // YoFramePoints for visualization
private final YoFramePointInMultipleFrames swingFootCentroid;
private final YoFramePointInMultipleFrames supportFootCentroid;
private final int stepNumber;
<<<<<<<
swingFootCentroid.setToNaN();
supportFootCentroid.setToNaN();
=======
>>>>>>>
swingFootCentroid.setToNaN();
supportFootCentroid.setToNaN();
<<<<<<<
this.swingFootCentroid.setIncludingFrame(other.swingFootCentroid);
this.supportFootCentroid.setIncludingFrame(other.supportFootCentroid);
for (int i = 0; i < CoPPointName.values.length; i++)
this.copLocations.get(CoPPointName.values[i]).setIncludingFrame(other.get(CoPPointName.values[i]));
for(int i = 0; i < other.copPointsList.size(); i++)
this.copPointsList.add(other.copPointsList.get(i));
=======
for (int i = 0; i < other.copPointsList.size(); i++)
this.copLocations.get(i).setIncludingFrame(other.get(i));
>>>>>>>
this.swingFootCentroid.setIncludingFrame(other.swingFootCentroid);
this.supportFootCentroid.setIncludingFrame(other.supportFootCentroid);
for (int i = 0; i < CoPPointName.values.length; i++)
this.copLocations.get(CoPPointName.values[i]).setIncludingFrame(other.get(CoPPointName.values[i]));
for(int i = 0; i < other.copPointsList.size(); i++)
this.copPointsList.add(other.copPointsList.get(i));
<<<<<<<
swingFootCentroid.changeFrame(desiredFrame);
supportFootCentroid.changeFrame(desiredFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).changeFrame(desiredFrame);
=======
for (int i = 0; i < copLocations.size(); i++)
copLocations.get(i).changeFrame(desiredFrame);
>>>>>>>
swingFootCentroid.changeFrame(desiredFrame);
supportFootCentroid.changeFrame(desiredFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).changeFrame(desiredFrame);
<<<<<<<
swingFootCentroid.registerReferenceFrame(newReferenceFrame);
supportFootCentroid.registerReferenceFrame(newReferenceFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).registerReferenceFrame(newReferenceFrame);
=======
for (int i = 0; i < copLocations.size(); i++)
copLocations.get(i).registerReferenceFrame(newReferenceFrame);
>>>>>>>
swingFootCentroid.registerReferenceFrame(newReferenceFrame);
supportFootCentroid.registerReferenceFrame(newReferenceFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).registerReferenceFrame(newReferenceFrame);
<<<<<<<
swingFootCentroid.switchCurrentReferenceFrame(desiredFrame);
supportFootCentroid.switchCurrentReferenceFrame(desiredFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).switchCurrentReferenceFrame(desiredFrame);
=======
for (int i = 0; i < copLocations.size(); i++)
copLocations.get(i).switchCurrentReferenceFrame(desiredFrame);
>>>>>>>
swingFootCentroid.switchCurrentReferenceFrame(desiredFrame);
supportFootCentroid.switchCurrentReferenceFrame(desiredFrame);
for (int i = 0; i < CoPPointName.values.length; i++)
copLocations.get(CoPPointName.values[i]).switchCurrentReferenceFrame(desiredFrame);
<<<<<<<
public void setSwingFootLocation(FramePoint footLocation)
{
this.swingFootCentroid.setIncludingFrame(footLocation);
}
public void setSwingFootLocation(FramePoint2d footLocation)
{
this.swingFootCentroid.setXYIncludingFrame(footLocation);
}
public void getSwingFootLocation(FramePoint footLocationToPack)
{
footLocationToPack.setIncludingFrame(swingFootCentroid.getFrameTuple());
}
public void setSupportFootLocation(FramePoint footLocation)
{
this.supportFootCentroid.setIncludingFrame(footLocation);
}
public void setSupportFootLocation(FramePoint2d footLocation)
{
this.supportFootCentroid.setXYIncludingFrame(footLocation);
}
public void getSupportFootLocation(FramePoint footLocationToPack)
{
footLocationToPack.setIncludingFrame(supportFootCentroid.getFrameTuple());
}
public void setFeetLocation(FramePoint swingFootLocation, FramePoint supportFootLocation)
{
setSwingFootLocation(swingFootLocation);
setSupportFootLocation(supportFootLocation);
}
=======
>>>>>>>
public void setSwingFootLocation(FramePoint footLocation)
{
this.swingFootCentroid.setIncludingFrame(footLocation);
}
public void setSwingFootLocation(FramePoint2d footLocation)
{
this.swingFootCentroid.setXYIncludingFrame(footLocation);
}
public void getSwingFootLocation(FramePoint footLocationToPack)
{
footLocationToPack.setIncludingFrame(swingFootCentroid.getFrameTuple());
}
public void setSupportFootLocation(FramePoint footLocation)
{
this.supportFootCentroid.setIncludingFrame(footLocation);
}
public void setSupportFootLocation(FramePoint2d footLocation)
{
this.supportFootCentroid.setXYIncludingFrame(footLocation);
}
public void getSupportFootLocation(FramePoint footLocationToPack)
{
footLocationToPack.setIncludingFrame(supportFootCentroid.getFrameTuple());
}
public void setFeetLocation(FramePoint swingFootLocation, FramePoint supportFootLocation)
{
setSwingFootLocation(swingFootLocation);
setSupportFootLocation(supportFootLocation);
} |
<<<<<<<
=======
us.ihmc.atlas.behaviorTests.AtlasWholeBodyIKTrajectoryBehaviorTest.class,
us.ihmc.atlas.HumanoidBehaviorsICPFaultDetectionTest.class,
us.ihmc.atlas.ObstacleCourseTests.AtlasBigStepUpWithHandPlatformTest.class,
us.ihmc.atlas.ObstacleCourseTests.AtlasInverseKinematicsPositionControlTest.class,
us.ihmc.atlas.ObstacleCourseTests.AtlasObstacleCourseWholeBodyTrajectoryTest.class
>>>>>>>
us.ihmc.atlas.HumanoidBehaviorsICPFaultDetectionTest.class,
us.ihmc.atlas.ObstacleCourseTests.AtlasBigStepUpWithHandPlatformTest.class, |
<<<<<<<
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.*;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FrameOrientation;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsOrientationTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void testCompareWithSimple()
{
YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
double trajectoryTime = 1.0;
double dt = 0.0001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
SimpleOrientationTrajectoryGenerator simpleTraj = new SimpleOrientationTrajectoryGenerator("simpleTraj", true, worldFrame, registry);
simpleTraj.setTrajectoryTime(trajectoryTime);
simpleTraj.setInitialOrientation(new FrameOrientation(worldFrame, 1.0, 0.2, -0.5));
simpleTraj.setFinalOrientation(new FrameOrientation(worldFrame, -0.3, 0.7, 1.0));
simpleTraj.initialize();
int numberOfWaypoints = 100;
MultipleWaypointsOrientationTrajectoryGenerator multipleWaypointTrajectory = new MultipleWaypointsOrientationTrajectoryGenerator("testedTraj", numberOfWaypoints+1, true, worldFrame, registry);
multipleWaypointTrajectory.clear();
FrameOrientation waypointOrientation = new FrameOrientation();
FrameVector waypointAngularVelocity = new FrameVector();
for (int i = 0; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = numberOfWaypoints == 1 ? trajectoryTime / 2.0 : i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTraj.compute(timeAtWaypoint);
simpleTraj.get(waypointOrientation);
simpleTraj.packAngularVelocity(waypointAngularVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointOrientation, waypointAngularVelocity);
}
multipleWaypointTrajectory.initialize();
FrameOrientation orientationToPackMultiple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackMultiple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackMultiple = new FrameVector(worldFrame);
FrameOrientation orientationToPackSimple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackSimple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.packAngularData(orientationToPackMultiple, angularVelocityToPackMultiple, angularAccelerationToPackMultiple);
simpleTraj.compute(t);
simpleTraj.packAngularData(orientationToPackSimple, angularVelocityToPackSimple, angularAccelerationToPackSimple);
boolean orientationsEqual = orientationToPackMultiple.epsilonEquals(orientationToPackSimple, EPSILON);
assertTrue(orientationsEqual);
boolean angularVelocityEqual = angularVelocityToPackMultiple.epsilonEquals(angularVelocityToPackSimple, EPSILON);
assertTrue(angularVelocityEqual);
boolean angularAccelerationEqual = angularAccelerationToPackMultiple.epsilonEquals(angularAccelerationToPackSimple, EPSILON);
angularAccelerationToPackMultiple.sub(angularAccelerationToPackSimple);
//System.out.println("Difference = " + angularAccelerationToPackMultiple.length());
//assertTrue(angularAccelerationEqual);
}
}
}
=======
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.*;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FrameOrientation;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsOrientationTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void testCompareWithSimple()
{
YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
double trajectoryTime = 1.0;
double dt = 0.0001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
SimpleOrientationTrajectoryGenerator simpleTraj = new SimpleOrientationTrajectoryGenerator("simpleTraj", true, worldFrame, registry);
simpleTraj.setTrajectoryTime(trajectoryTime);
simpleTraj.setInitialOrientation(new FrameOrientation(worldFrame, 1.0, 0.2, -0.5));
simpleTraj.setFinalOrientation(new FrameOrientation(worldFrame, -0.3, 0.7, 1.0));
simpleTraj.initialize();
int numberOfWaypoints = 100;
MultipleWaypointsOrientationTrajectoryGenerator multipleWaypointTrajectory = new MultipleWaypointsOrientationTrajectoryGenerator("testedTraj", numberOfWaypoints+1, true, true, worldFrame, registry);
multipleWaypointTrajectory.clear();
FrameOrientation waypointOrientation = new FrameOrientation();
FrameVector waypointAngularVelocity = new FrameVector();
for (int i = 0; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = numberOfWaypoints == 1 ? trajectoryTime / 2.0 : i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTraj.compute(timeAtWaypoint);
simpleTraj.getOrientation(waypointOrientation);
simpleTraj.getAngularVelocity(waypointAngularVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointOrientation, waypointAngularVelocity);
}
multipleWaypointTrajectory.initialize();
FrameOrientation orientationToPackMultiple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackMultiple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackMultiple = new FrameVector(worldFrame);
FrameOrientation orientationToPackSimple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackSimple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.getAngularData(orientationToPackMultiple, angularVelocityToPackMultiple, angularAccelerationToPackMultiple);
simpleTraj.compute(t);
simpleTraj.getAngularData(orientationToPackSimple, angularVelocityToPackSimple, angularAccelerationToPackSimple);
boolean orientationsEqual = orientationToPackMultiple.epsilonEquals(orientationToPackSimple, EPSILON);
assertTrue(orientationsEqual);
boolean angularVelocityEqual = angularVelocityToPackMultiple.epsilonEquals(angularVelocityToPackSimple, EPSILON);
assertTrue(angularVelocityEqual);
boolean angularAccelerationEqual = angularAccelerationToPackMultiple.epsilonEquals(angularAccelerationToPackSimple, EPSILON);
angularAccelerationToPackMultiple.sub(angularAccelerationToPackSimple);
//System.out.println("Difference = " + angularAccelerationToPackMultiple.length());
//assertTrue(angularAccelerationEqual);
}
}
}
>>>>>>>
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.*;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FrameOrientation;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsOrientationTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void testCompareWithSimple()
{
YoVariableRegistry registry = new YoVariableRegistry(getClass().getSimpleName());
double trajectoryTime = 1.0;
double dt = 0.0001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
SimpleOrientationTrajectoryGenerator simpleTraj = new SimpleOrientationTrajectoryGenerator("simpleTraj", true, worldFrame, registry);
simpleTraj.setTrajectoryTime(trajectoryTime);
simpleTraj.setInitialOrientation(new FrameOrientation(worldFrame, 1.0, 0.2, -0.5));
simpleTraj.setFinalOrientation(new FrameOrientation(worldFrame, -0.3, 0.7, 1.0));
simpleTraj.initialize();
int numberOfWaypoints = 100;
MultipleWaypointsOrientationTrajectoryGenerator multipleWaypointTrajectory = new MultipleWaypointsOrientationTrajectoryGenerator("testedTraj", numberOfWaypoints+1, true, worldFrame, registry);
multipleWaypointTrajectory.clear();
FrameOrientation waypointOrientation = new FrameOrientation();
FrameVector waypointAngularVelocity = new FrameVector();
for (int i = 0; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = numberOfWaypoints == 1 ? trajectoryTime / 2.0 : i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTraj.compute(timeAtWaypoint);
simpleTraj.getOrientation(waypointOrientation);
simpleTraj.getAngularVelocity(waypointAngularVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointOrientation, waypointAngularVelocity);
}
multipleWaypointTrajectory.initialize();
FrameOrientation orientationToPackMultiple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackMultiple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackMultiple = new FrameVector(worldFrame);
FrameOrientation orientationToPackSimple = new FrameOrientation(worldFrame);
FrameVector angularVelocityToPackSimple = new FrameVector(worldFrame);
FrameVector angularAccelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.getAngularData(orientationToPackMultiple, angularVelocityToPackMultiple, angularAccelerationToPackMultiple);
simpleTraj.compute(t);
simpleTraj.getAngularData(orientationToPackSimple, angularVelocityToPackSimple, angularAccelerationToPackSimple);
boolean orientationsEqual = orientationToPackMultiple.epsilonEquals(orientationToPackSimple, EPSILON);
assertTrue(orientationsEqual);
boolean angularVelocityEqual = angularVelocityToPackMultiple.epsilonEquals(angularVelocityToPackSimple, EPSILON);
assertTrue(angularVelocityEqual);
boolean angularAccelerationEqual = angularAccelerationToPackMultiple.epsilonEquals(angularAccelerationToPackSimple, EPSILON);
angularAccelerationToPackMultiple.sub(angularAccelerationToPackSimple);
//System.out.println("Difference = " + angularAccelerationToPackMultiple.length());
//assertTrue(angularAccelerationEqual);
}
}
} |
<<<<<<<
import us.ihmc.commonWalkingControlModules.controllerCore.parameters.JointAccelerationIntegrationParametersReadOnly;
import us.ihmc.commonWalkingControlModules.messageHandlers.PlanarRegionsListHandler;
import us.ihmc.commonWalkingControlModules.messageHandlers.WalkingMessageHandler;
=======
>>>>>>>
import us.ihmc.commonWalkingControlModules.messageHandlers.PlanarRegionsListHandler; |
<<<<<<<
* @param jointAccelerationToPack the {@code SpatialAccelerationVector}
* in which the acceleration of this joint's {@code successor} is stored. Modified.
=======
* @param twistToPack the {@code SpatialAccelerationVector} in which the acceleration of this
* joint's {@code successor} is stored. Modified.
>>>>>>>
* @param jointAccelerationToPack the {@code SpatialAccelerationVector} in which the acceleration
* of this joint's {@code successor} is stored. Modified.
<<<<<<<
* @param jointAccelerationToPack the {@code SpatialAccelerationVector}
* in which the desired acceleration of this joint is stored. Modified.
=======
* @param accelerationToPack the {@code SpatialAccelerationVector} in which the desired
* acceleration of this joint is stored. Modified.
>>>>>>>
* @param jointAccelerationToPack the {@code SpatialAccelerationVector} in which the desired
* acceleration of this joint is stored. Modified.
<<<<<<<
* @param jointAccelerationToPack the {@code SpatialAccelerationVector}
* in which the acceleration of this joint's {@code successor} resulting from
* this joint desired acceleration is stored. Modified.
=======
* @param twistToPack the {@code SpatialAccelerationVector} in which the acceleration of this
* joint's {@code successor} resulting from this joint desired acceleration is stored.
* Modified.
>>>>>>>
* @param jointAccelerationToPack the {@code SpatialAccelerationVector} in which the acceleration
* of this joint's {@code successor} resulting from this joint desired acceleration is
* stored. Modified.
<<<<<<<
* @param jointAccelerationToPack the {@code SpatialAccelerationVector}
* in which the acceleration of this joint's {@code predecessor} resulting from
* this joint desired acceleration is stored. Modified.
=======
* @param twistToPack the {@code SpatialAccelerationVector} in which the acceleration of this
* joint's {@code predecessor} resulting from this joint desired acceleration is
* stored. Modified.
>>>>>>>
* @param jointAccelerationToPack the {@code SpatialAccelerationVector} in which the acceleration
* of this joint's {@code predecessor} resulting from this joint desired acceleration
* is stored. Modified.
<<<<<<<
* Sets the joint current wrench from the given column vector {@code DenseMatrix64F}.
* Here are a few examples:
* <ul>
* <li> For a {@code RevoluteJoint}, the {@code rowStart}<sup>th</sup> row of the given column vector is
* used to set the joint torque {@code tau}.
* <li> For a {@code SixDoFJoint}, the 6 rows starting from {@code rowStart} are use to set the current spatial wrench
* of this joint starting with the torque.
* Note: the joint wrench is the wrench of the {@code afterJointFrame} with respect to the {@code beforeJointFrame}
* expressed in the {@code afterJointFrame}.
* </ul>
*
* @param matrixToPack the column vector from which the configuration of this joint is to be extracted. Not modified.
* @param rowStart row index of the first component of this joint configuration.
*/
public abstract void setJointTorque(DenseMatrix64F matrixToPack, int rowStart);
/**
* Sets this joint current velocity from the given column vector {@code DenseMAtrix64F}.
* Here are a few examples:
=======
* Sets this joint current velocity from the given column vector {@code DenseMAtrix64F}. Here are
* a few examples:
>>>>>>>
* Sets the joint current wrench from the given column vector {@code DenseMatrix64F}. Here are a
* few examples:
* <ul>
* <li>For a {@code RevoluteJoint}, the {@code rowStart}<sup>th</sup> row of the given column
* vector is used to set the joint torque {@code tau}.
* <li>For a {@code SixDoFJoint}, the 6 rows starting from {@code rowStart} are use to set the
* current spatial wrench of this joint starting with the torque. Note: the joint wrench is the
* wrench of the {@code afterJointFrame} with respect to the {@code beforeJointFrame} expressed
* in the {@code afterJointFrame}.
* </ul>
*
* @param matrixToPack the column vector from which the configuration of this joint is to be
* extracted. Not modified.
* @param rowStart row index of the first component of this joint configuration.
*/
public abstract void setJointTorque(DenseMatrix64F matrixToPack, int rowStart);
/**
* Sets this joint current velocity from the given column vector {@code DenseMAtrix64F}. Here are
* a few examples: |
<<<<<<<
planarRegionPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node, PlanarRegionsListMessage.class, ROS2Tools.REALSENSE_SLAM_MAP.withOutput());
robotStatus = reaMessager.createInput(SLAMModuleAPI.SensorStatus, false);
velocityStatus = reaMessager.createInput(SLAMModuleAPI.VelocityLimitStatus, true);
=======
planarRegionPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node, PlanarRegionsListMessage.class, ROS2Tools.REALSENSE_SLAM_MAP);
>>>>>>>
planarRegionPublisher = ROS2Tools.createPublisherTypeNamed(ros2Node, PlanarRegionsListMessage.class, ROS2Tools.REALSENSE_SLAM_MAP.withOutput()); |
<<<<<<<
private WalkingTrajectoryType trajectoryType = WalkingTrajectoryType.TRANSFER;
private double timeInState = 0.0;
private int transferTrajectoryIndex = -1;
private int swingTrajectoryIndex = -1;
private List<CoPPointName> copList;
private void generateCoPTrajectoriesFromWayPoints()
=======
// TODO This function needs aesthetic improvement
private void generateCoPTrajectoriesFromWayPoints()
>>>>>>>
private WalkingTrajectoryType trajectoryType = WalkingTrajectoryType.TRANSFER;
private double timeInState = 0.0;
private int transferTrajectoryIndex = -1;
private int swingTrajectoryIndex = -1;
private List<CoPPointName> copList;
private void generateCoPTrajectoriesFromWayPoints()
<<<<<<<
=======
WalkingTrajectoryType trajectoryType = WalkingTrajectoryType.TRANSFER;
double timeInState = 0.0;
boolean initialTransfer = true;
int transferTrajectoryIndex = 0;
int swingTrajectoryIndex = -1;
CoPSplineType splineInterpolationOrder = orderOfSplineInterpolation.getEnumValue();
>>>>>>> |
<<<<<<<
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.assertTrue;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.StraightLinePositionTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantDoubleProvider;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.DoubleProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsPositionTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void test()
{
YoVariableRegistry registry = new YoVariableRegistry("traj");
double trajectoryTime = 1.0;
double dt = 0.001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
MultipleWaypointsPositionTrajectoryGenerator multipleWaypointTrajectory;
StraightLinePositionTrajectoryGenerator simpleTrajectory;
DoubleProvider trajectoryTimeProvider = new ConstantDoubleProvider(trajectoryTime);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 1.0, 0.0, 1.0));
PositionProvider finalPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 0.2, 1.0, 0.4));
simpleTrajectory = new StraightLinePositionTrajectoryGenerator("simpleTraj", worldFrame, trajectoryTimeProvider, initialPositionProvider, finalPositionProvider, registry);
simpleTrajectory.initialize();
int numberOfWaypoints = 11;
multipleWaypointTrajectory = new MultipleWaypointsPositionTrajectoryGenerator("testedTraj", 50, worldFrame, registry);
multipleWaypointTrajectory.clear();
FramePoint waypointPosition = new FramePoint();
FrameVector waypointVelocity = new FrameVector();
for (int i = 0; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTrajectory.compute(timeAtWaypoint);
simpleTrajectory.get(waypointPosition);
simpleTrajectory.packVelocity(waypointVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointPosition, waypointVelocity);
}
multipleWaypointTrajectory.initialize();
FramePoint positionToPackMultiple = new FramePoint(worldFrame);
FrameVector velocityToPackMultiple = new FrameVector(worldFrame);
FrameVector accelerationToPackMultiple = new FrameVector(worldFrame);
FramePoint positionToPackSimple = new FramePoint(worldFrame);
FrameVector velocityToPackSimple = new FrameVector(worldFrame);
FrameVector accelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.packLinearData(positionToPackMultiple, velocityToPackMultiple, accelerationToPackMultiple);
simpleTrajectory.compute(t);
simpleTrajectory.packLinearData(positionToPackSimple, velocityToPackSimple, accelerationToPackSimple);
boolean positionEqual = positionToPackMultiple.epsilonEquals(positionToPackSimple, EPSILON);
assertTrue(positionEqual);
boolean velocityEqual = velocityToPackMultiple.epsilonEquals(velocityToPackSimple, 5.0*EPSILON);
assertTrue(velocityEqual);
// The straight line trajectory does minimum jerk whereas the multiple waypoint uses cubic splines
// boolean accelerationEqual = accelerationToPackMultiple.epsilonEquals(accelerationToPackSimple, 100.0*EPSILON);
// assertTrue(accelerationEqual);
}
}
}
=======
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.assertTrue;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.StraightLinePositionTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantDoubleProvider;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.DoubleProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsPositionTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void test()
{
YoVariableRegistry registry = new YoVariableRegistry("traj");
double trajectoryTime = 1.0;
double dt = 0.001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
MultipleWaypointsPositionTrajectoryGenerator multipleWaypointTrajectory;
StraightLinePositionTrajectoryGenerator simpleTrajectory;
DoubleProvider trajectoryTimeProvider = new ConstantDoubleProvider(trajectoryTime);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 1.0, 0.0, 1.0));
PositionProvider finalPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 0.2, 1.0, 0.4));
simpleTrajectory = new StraightLinePositionTrajectoryGenerator("simpleTraj", worldFrame, trajectoryTimeProvider, initialPositionProvider, finalPositionProvider, registry);
simpleTrajectory.initialize();
int numberOfWaypoints = 11;
multipleWaypointTrajectory = new MultipleWaypointsPositionTrajectoryGenerator("testedTraj", worldFrame, initialPositionProvider, registry);
multipleWaypointTrajectory.clear();
FramePoint waypointPosition = new FramePoint();
FrameVector waypointVelocity = new FrameVector();
for (int i = 1; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTrajectory.compute(timeAtWaypoint);
simpleTrajectory.getPosition(waypointPosition);
simpleTrajectory.getVelocity(waypointVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointPosition, waypointVelocity);
}
multipleWaypointTrajectory.initialize();
FramePoint positionToPackMultiple = new FramePoint(worldFrame);
FrameVector velocityToPackMultiple = new FrameVector(worldFrame);
FrameVector accelerationToPackMultiple = new FrameVector(worldFrame);
FramePoint positionToPackSimple = new FramePoint(worldFrame);
FrameVector velocityToPackSimple = new FrameVector(worldFrame);
FrameVector accelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.getLinearData(positionToPackMultiple, velocityToPackMultiple, accelerationToPackMultiple);
simpleTrajectory.compute(t);
simpleTrajectory.getLinearData(positionToPackSimple, velocityToPackSimple, accelerationToPackSimple);
boolean positionEqual = positionToPackMultiple.epsilonEquals(positionToPackSimple, EPSILON);
assertTrue(positionEqual);
boolean velocityEqual = velocityToPackMultiple.epsilonEquals(velocityToPackSimple, 5.0*EPSILON);
assertTrue(velocityEqual);
// The straight line trajectory does minimum jerk whereas the multiple waypoint uses cubic splines
// boolean accelerationEqual = accelerationToPackMultiple.epsilonEquals(accelerationToPackSimple, 100.0*EPSILON);
// assertTrue(accelerationEqual);
}
}
}
>>>>>>>
package us.ihmc.robotics.math.trajectories;
import static org.junit.Assert.assertTrue;
import org.junit.Test;
import us.ihmc.robotics.dataStructures.registry.YoVariableRegistry;
import us.ihmc.robotics.geometry.FramePoint;
import us.ihmc.robotics.geometry.FrameVector;
import us.ihmc.robotics.math.trajectories.MultipleWaypointsPositionTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.StraightLinePositionTrajectoryGenerator;
import us.ihmc.robotics.referenceFrames.ReferenceFrame;
import us.ihmc.robotics.trajectories.providers.ConstantDoubleProvider;
import us.ihmc.robotics.trajectories.providers.ConstantPositionProvider;
import us.ihmc.robotics.trajectories.providers.DoubleProvider;
import us.ihmc.robotics.trajectories.providers.PositionProvider;
import us.ihmc.tools.testing.TestPlanTarget;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestClass;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;
@DeployableTestClass(targets = {TestPlanTarget.Fast})
public class MultipleWaypointsPositionTrajectoryGeneratorTest
{
private final double EPSILON = 1e-3;
@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 300000)
public void test()
{
YoVariableRegistry registry = new YoVariableRegistry("traj");
double trajectoryTime = 1.0;
double dt = 0.001;
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
MultipleWaypointsPositionTrajectoryGenerator multipleWaypointTrajectory;
StraightLinePositionTrajectoryGenerator simpleTrajectory;
DoubleProvider trajectoryTimeProvider = new ConstantDoubleProvider(trajectoryTime);
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 1.0, 0.0, 1.0));
PositionProvider finalPositionProvider = new ConstantPositionProvider(new FramePoint(worldFrame, 0.2, 1.0, 0.4));
simpleTrajectory = new StraightLinePositionTrajectoryGenerator("simpleTraj", worldFrame, trajectoryTimeProvider, initialPositionProvider, finalPositionProvider, registry);
simpleTrajectory.initialize();
int numberOfWaypoints = 11;
multipleWaypointTrajectory = new MultipleWaypointsPositionTrajectoryGenerator("testedTraj", 50, worldFrame, registry);
multipleWaypointTrajectory.clear();
FramePoint waypointPosition = new FramePoint();
FrameVector waypointVelocity = new FrameVector();
for (int i = 0; i < numberOfWaypoints; i++)
{
double timeAtWaypoint = i * trajectoryTime / (numberOfWaypoints - 1.0);
simpleTrajectory.compute(timeAtWaypoint);
simpleTrajectory.getPosition(waypointPosition);
simpleTrajectory.getVelocity(waypointVelocity);
multipleWaypointTrajectory.appendWaypoint(timeAtWaypoint, waypointPosition, waypointVelocity);
}
multipleWaypointTrajectory.initialize();
FramePoint positionToPackMultiple = new FramePoint(worldFrame);
FrameVector velocityToPackMultiple = new FrameVector(worldFrame);
FrameVector accelerationToPackMultiple = new FrameVector(worldFrame);
FramePoint positionToPackSimple = new FramePoint(worldFrame);
FrameVector velocityToPackSimple = new FrameVector(worldFrame);
FrameVector accelerationToPackSimple = new FrameVector(worldFrame);
for (double t = 0.0; t <= trajectoryTime; t += dt)
{
multipleWaypointTrajectory.compute(t);
multipleWaypointTrajectory.getLinearData(positionToPackMultiple, velocityToPackMultiple, accelerationToPackMultiple);
simpleTrajectory.compute(t);
simpleTrajectory.getLinearData(positionToPackSimple, velocityToPackSimple, accelerationToPackSimple);
boolean positionEqual = positionToPackMultiple.epsilonEquals(positionToPackSimple, EPSILON);
assertTrue(positionEqual);
boolean velocityEqual = velocityToPackMultiple.epsilonEquals(velocityToPackSimple, 5.0*EPSILON);
assertTrue(velocityEqual);
// The straight line trajectory does minimum jerk whereas the multiple waypoint uses cubic splines
// boolean accelerationEqual = accelerationToPackMultiple.epsilonEquals(accelerationToPackSimple, 100.0*EPSILON);
// assertTrue(accelerationEqual);
}
}
} |
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