us.ihmc.simulationconstructionset.SimulationConstructionSet.addYoVariableRegistry()方法的使用及代码示例

本文整理了Java中us.ihmc.simulationconstructionset.SimulationConstructionSet.addYoVariableRegistry()方法的一些代码示例，展示了SimulationConstructionSet.addYoVariableRegistry()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。SimulationConstructionSet.addYoVariableRegistry()方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.SimulationConstructionSet
类名称：SimulationConstructionSet
方法名：addYoVariableRegistry

SimulationConstructionSet.addYoVariableRegistry介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
scs.addYoVariableRegistry(logDataProcessorRegistry);
scs.addScript(this);
cOntrollerTimerCount= (YoLong) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
haveFoundCOntrollerTimerVariable= controllerTimerCount != null;
if (!haveFoundControllerTimerVariable)
{
System.err.println("Could not find controller timer variable, running processors at log data rate");
}
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
scs.addYoVariableRegistry(logDataProcessorRegistry);
scs.addScript(this);
cOntrollerTimerCount= (LongYoVariable) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
haveFoundCOntrollerTimerVariable= controllerTimerCount != null;
if (!haveFoundControllerTimerVariable)
{
System.err.println("Could not find controller timer variable, running processors at log data rate");
}
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public LogDataProcessorWrapper(SimulationConstructionSet scs)
{
scs.addYoVariableRegistry(logDataProcessorRegistry);
scs.addScript(this);
cOntrollerTimerCount= (LongYoVariable) scs.getVariable(DRCControllerThread.class.getSimpleName(), "controllerTimerCount");
haveFoundCOntrollerTimerVariable= controllerTimerCount != null;
if (!haveFoundControllerTimerVariable)
{
System.err.println("Could not find controller timer variable, running processors at log data rate");
}
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public void startVisualizer()
{
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
scs.addYoVariableRegistry(registry);
scs.setupGraphGroup("step times", new String[][]
{
{"t"}
});
scs.startOnAThread();
scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public void startVisualizer()
{
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
scs.addYoVariableRegistry(registry);
scs.setupGraphGroup("step times", new String[][]
{
{"t"}
});
scs.startOnAThread();
scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

private void setupThreadDataSynchronizer()
{
if (scsInitialSetup.get().getRunMultiThreaded())
{
threadDataSynchrOnizer= new ThreadDataSynchronizer(robotModel.get());
}
else
{
YoVariableRegistry threadDataSynchrOnizerRegistry= new YoVariableRegistry("ThreadDataSynchronizerRegistry");
threadDataSynchrOnizer= new SingleThreadedThreadDataSynchronizer(simulationConstructionSet, robotModel.get(), threadDataSynchronizerRegistry);
simulationConstructionSet.addYoVariableRegistry(threadDataSynchronizerRegistry);
}
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

private void setupThreadDataSynchronizer()
{
if (scsInitialSetup.get().getRunMultiThreaded())
{
threadDataSynchrOnizer= new ThreadDataSynchronizer(robotModel.get());
}
else
{
YoVariableRegistry threadDataSynchrOnizerRegistry= new YoVariableRegistry("ThreadDataSynchronizerRegistry");
threadDataSynchrOnizer= new SingleThreadedThreadDataSynchronizer(simulationConstructionSet, robotModel.get(), threadDataSynchronizerRegistry);
simulationConstructionSet.addYoVariableRegistry(threadDataSynchronizerRegistry);
}
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
super(new GridLayout(1, 0));
registry = new YoVariableRegistry("PoseSequenceGUI");
fullRobotModel = robotModel.createFullRobotModel();
sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
sequence = new PlaybackPoseSequence(fullRobotModel);

HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
ModularRobotController cOntroller= new ModularRobotController("Reader");
controller.setRawSensorReader(reader);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.startOnAThread();
sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
"lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
table = new JTable(tableModel);
tableInit();
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
super(new GridLayout(1, 0));
registry = new YoVariableRegistry("PoseSequenceGUI");
fullRobotModel = robotModel.createFullRobotModel();
sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
sequence = new PlaybackPoseSequence(fullRobotModel);

HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
ModularRobotController cOntroller= new ModularRobotController("Reader");
controller.setRawSensorReader(reader);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.startOnAThread();
sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
"lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
table = new JTable(tableModel);
tableInit();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public PoseSequenceSelectorPanel(DRCRobotModel robotModel)
{
super(new GridLayout(1, 0));
registry = new YoVariableRegistry("PoseSequenceGUI");
fullRobotModel = robotModel.createFullRobotModel();
sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
sequence = new PlaybackPoseSequence(fullRobotModel);

HumanoidReferenceFrames referenceFrames = new HumanoidReferenceFrames(fullRobotModel);
SDFPerfectSimulatedSensorReader reader = new SDFPerfectSimulatedSensorReader(sdfRobot, fullRobotModel, referenceFrames);
ModularRobotController cOntroller= new ModularRobotController("Reader");
controller.setRawSensorReader(reader);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.startOnAThread();
sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModel, null);
String[] columnNames = new String[] { "#", "sy", "sp", "sr", "neck", "lhy", "lhr", "lhp", "lk", "lap", "lar", "rhy", "rhr", "rhp", "rk", "rap", "rar",
"lsp", "lsr", "lep", "ler", "lwp", "lwr", "rsp", "rsr", "rep", "rer", "rwp", "rwr", "pause" };
tableModel = new DefaultTableModel(columnNames, 0); // new ScriptEditorTableModel();
table = new JTable(tableModel);
tableInit();
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithSimulationConstructionSet(double dtForViz,
SideDependentList footPolygonsInSoleFrame)
{
YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
registry, graphicsListRegistry);
SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Test"));
footstepPlannerVisualizer.setTickAndUpdatable(scs);
scs.changeBufferSize(32000);
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(graphicsListRegistry);
scs.setDT(dtForViz, 1);
scs.setGroundVisible(false);
scs.startOnAThread();
return footstepPlannerVisualizer;
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void startSCS()
{
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(graphicsListRegistry);
scs.setPlaybackRealTimeRate(0.025);
Graphics3DObject linkGraphics = new Graphics3DObject();
linkGraphics.addCoordinateSystem(0.3);
scs.addStaticLinkGraphics(linkGraphics);
scs.setCameraFix(0.0, 0.0, 0.5);
scs.setCameraPosition(-0.5, 0.0, 1.0);
SimulationOverheadPlotterFactory simulatiOnOverheadPlotterFactory= scs.createSimulationOverheadPlotterFactory();
simulationOverheadPlotterFactory.addYoGraphicsListRegistries(graphicsListRegistry);
simulationOverheadPlotterFactory.createOverheadPlotter();
scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public ReachabilitySphereMapCalculator(OneDoFJointBasics[] robotArmJoints, SimulationConstructionSet scs)
{
this.scs = scs;
solver = new ReachabilityMapSolver(robotArmJoints, null, registry);
FramePose3D gridFramePose = new FramePose3D(ReferenceFrame.getWorldFrame(), robotArmJoints[0].getFrameBeforeJoint().getTransformToWorldFrame());
gridFramePose.appendTranslation(getGridSizeInMeters() / 2.5, 0.0, 0.0);
setGridFramePose(gridFramePose);
scs.addStaticLinkGraphics(ReachabilityMapTools.createReachibilityColorScale());
scs.addYoGraphic(gridFrameViz);
scs.addYoGraphic(currentEvaluationPose);
scs.addYoGraphic(currentEvaluationPosition);
scs.addYoVariableRegistry(registry);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
this.cOntrolDT= robotModel.getControllerDT();

DRCRobotJointMap jointMap = robotModel.getJointMap();
HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
interpolator = new PlaybackPoseInterpolator(registry);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
fullRobotModelForSlider = robotModel.createFullRobotModel();
DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);

CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);


scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
supportPolygOns= new SideDependentList();
supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
footCOntactsInAnkleFrame= new SideDependentList<>();
footContactsInAnkleFrame.set(RobotSide.LEFT, null);
footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
this.cOntrolDT= robotModel.getControllerDT();

DRCRobotJointMap jointMap = robotModel.getJointMap();
HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
interpolator = new PlaybackPoseInterpolator(registry);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
fullRobotModelForSlider = robotModel.createFullRobotModel();
DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);

CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);


scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
this.cOntrolDT= robotModel.getControllerDT();

DRCRobotJointMap jointMap = robotModel.getJointMap();
HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
interpolator = new PlaybackPoseInterpolator(registry);
SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
fullRobotModelForSlider = robotModel.createFullRobotModel();
DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);

CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);


scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
supportPolygOns= new SideDependentList();
supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
footCOntactsInAnkleFrame= new SideDependentList>();
footContactsInAnkleFrame.set(RobotSide.LEFT, null);
footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
scs.addYoVariableRegistry(registry);
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public ReachabilitySphereMapCalculator(OneDoFJoint[] robotArmJoints, SimulationConstructionSet scs)
{
this.robotArmJoints = robotArmJoints;
this.scs = scs;
lastJoint = robotArmJoints[robotArmJoints.length - 1];
jacobian = new GeometricJacobian(robotArmJoints, lastJoint.getSuccessor().getBodyFixedFrame());
int maxIteratiOns= 500;
spatialInverseKinematicsCalculator = createNumericalInverseKinematicsCalculator(jacobian, maxIterations, true);
linearInverseKinematicsCalculator = createNumericalInverseKinematicsCalculator(jacobian, maxIterations, false);
ReferenceFrame frameBeforeRootJoint = robotArmJoints[0].getFrameBeforeJoint();
RigidBodyTransform gridTransformToParent = new RigidBodyTransform(new AxisAngle4d(), new Vector3d(gridSizeInNumberOfVoxels * voxelSize / 3.0, 0.0, 0.0));
ReferenceFrame gridFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("gridFrame", frameBeforeRootJoint, gridTransformToParent);
Graphics3DObject gridFrameViz = new Graphics3DObject();
gridFrameViz.transform(gridFrame.getTransformToDesiredFrame(ReferenceFrame.getWorldFrame()));
gridFrameViz.addCoordinateSystem(1.0, YoAppearance.Blue());
scs.addStaticLinkGraphics(gridFrameViz);
sphereVoxelShape = new SphereVoxelShape(gridFrame, voxelSize, numberOfRays, numberOfRotationsAroundRay, SphereVoxelType.graspOrigin);
voxel3dGrid = new Voxel3DGrid(gridFrame, sphereVoxelShape, gridSizeInNumberOfVoxels, voxelSize);
scs.addYoVariableRegistry(registry);
}

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

public PolygonSnapperVisualizer(ConvexPolygon2D snappingPolygonShape)
{
Robot robot = new Robot("Robot");
scs = new SimulationConstructionSet(robot);
scs.setDT(0.1, 1);
polygOnToSnap= new YoFrameConvexPolygon2D("polygonToSnap", ReferenceFrame.getWorldFrame(), 4, registry);
snappedPolygon = new YoFrameConvexPolygon2D("snappedPolygon", ReferenceFrame.getWorldFrame(), 4, registry);
polygonToSnap.set(snappingPolygonShape);
snappedPolygon.set(snappingPolygonShape);
polygOnToSnapPose= new YoFramePoseUsingYawPitchRoll("polygonToSnapPose", ReferenceFrame.getWorldFrame(), registry);
snappedPolygOnPose= new YoFramePoseUsingYawPitchRoll("snappedPolygonPose", ReferenceFrame.getWorldFrame(), registry);
polygonToSnapPose.setToNaN();
snappedPolygonPose.setToNaN();
polygOnToSnapViz= new YoGraphicPolygon("polygonToSnapViz", polygonToSnap, polygonToSnapPose, 1.0, YoAppearance.Green());
snappedPolygOnViz= new YoGraphicPolygon("snappedPolygonViz", polygonToSnap, snappedPolygonPose, 1.0, YoAppearance.Red());
polygonToSnapViz.update();
snappedPolygonViz.update();
scs.addYoGraphic(polygonToSnapViz);
scs.addYoGraphic(snappedPolygonViz);
scs.addYoVariableRegistry(registry);
scs.setGroundVisible(false);
scs.startOnAThread();
}