本文整理汇总了Python中Robot.Robot.shimmy方法的典型用法代码示例。如果您正苦于以下问题：Python Robot.shimmy方法的具体用法？Python Robot.shimmy怎么用？Python Robot.shimmy使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Robot.Robot的用法示例。
在下文中一共展示了Robot.shimmy方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from Robot import Robot [as 别名]
# 或者: from Robot.Robot import shimmy [as 别名]
class RunManager:
'''Manage runs..'''
def __init__(self):
self.robot = Robot(commandRate = 40, loud = False)
self.statesSoFar = set() # Keeps track of the states tested so far
def run_robot(self, currentState):
'''
Runs the robot with currentState parameters and returns the
distance walked. If currentState is a function, calls that
function instead of passing to a motion model.
'''
if hasattr(currentState, '__call__'):
# is a function
motionModel = currentState
else:
# is a parameter vector
model = SineModel5()
motionModel = lambda time: model.model(time,
parameters = currentState)
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackClient("localhost", 8080)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset('Robot has walked outisde sensor view. Please place back in center and push enter to continue.')
print 'Retrying last run'
return self.run_robot(currentState)
if not self.robot.shimmy():
self.manual_reset('Shimmy failed. Fix and restart.')
return self.run_robot(currentState)
try:
self.robot.run(motionModel, runSeconds = 9, resetFirst = False,
interpBegin = 1, interpEnd = 2)
except RobotFailure as ee:
print ee
override = self.manual_reset('Robot run failure. Fix something and push enter to continue, or enter a fitness to manually enter it.')
# print 'Retrying last run'
# return self.run_robot(currentState)
try:
manualDist = float(override)
return manualDist
except ValueError:
print 'Retrying last run'
return self.run_robot(currentState)
endPos = wiiTrack.getPosition()
if endPos is None:
# Robot walked out of sensor view
override = self.manual_reset('Robot has walked outisde sensor view. Please place back in center\nand push enter to retry or enter manual fitness override to skip.')
try:
manualDist = float(override)
return manualDist
except ValueError:
print 'Retrying last run'
return self.run_robot(currentState)
distance_walked = self.calculate_distance(beginPos, endPos)
#print ' walked %.2f' % distance_walked
if not self.robot.shimmy():
ret = distance_walked / 2.0
print 'Shimmy failed, returning %.2f instead of %.2f' % (ret, distance_walked)
self.manual_reset('Shimmy failed at end, reset robot if necessary and push enter to continue.')
return ret
else:
return distance_walked
def run_function_and_log(self, motionFunction, runSeconds, timeScale = 1, logFilename = None):
'''
Runs the robot with the given motion function from 0 to
runSeconds, logging time and position to logFileName
'''
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackFastClient("localhost", 8080)
sleep(.5)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset('Robot has walked outisde sensor view. Please place back in center and push enter to retry.')
raise Exception
if not self.robot.shimmy():
print 'Shimmy failed :('
#self.manual_reset('Shimmy failed. Fix and push enter to retry.')
#####HACK !!!!!!
#raise Exception
ff = open(logFilename, 'a')
#.........这里部分代码省略.........