本文整理汇总了Python中Simulator.Simulator.robotOrientationToGoal方法的典型用法代码示例。如果您正苦于以下问题：Python Simulator.robotOrientationToGoal方法的具体用法？Python Simulator.robotOrientationToGoal怎么用？Python Simulator.robotOrientationToGoal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Simulator.Simulator的用法示例。
在下文中一共展示了Simulator.robotOrientationToGoal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: SimulatedLucy
# 需要导入模块: from Simulator import Simulator [as 别名]
# 或者: from Simulator.Simulator import robotOrientationToGoal [as 别名]
class SimulatedLucy(Lucy):
def __init__(self, visible=False):
Lucy.__init__(self)
self.visible = visible
genetic_bioloid = os.getcwd() + self.sysConf.getFile("Lucy vrep model")
self.sim = Simulator(genetic_bioloid)
self.clientID = self.sim.getClientId()
if self.clientID == -1:
retry_counter = sysConstants.ERROR_RETRY
time.sleep(0.1)
self.clientID = self.sim.getClientId()
while self.clientID == -1 and retry_counter > 0:
time.sleep(0.5)
retry_counter = retry_counter - 1
self.clientID = self.sim.getClientId()
print "waiting for vrep connection"
if self.clientID == -1:
raise VrepException("error connecting with Vrep", -1)
self.sim.startSim(self.clientID,self.visible)
self.jointHandleCachePopulated = False
configuration = LoadRobotConfiguration()
self.joints = configuration.getJointsName()
self.firstCallGetFrame = True
self.sim.robotOrientationToGoal()
self.updateLucyPosition()
self.posesExecutedByStepQty = self.sim.getPosesExecutedByStepQty(self.clientID)
def getSimTime(self):
if self.stop == False:
self.time = time.time() - self.startTime
return self.time
def getSimDistance(self):
return self.distance
def getFitness(self, secuenceLength, concatenationGap):
error, angle = self.sim.robotOrientationToGoal()
distance = self.getSimDistance()
error, upD = self.sim.getUpDistance()
framesQty = secuenceLength
cycleEnded = 0
print "--------------------------------------------------------------------"
print "orientation: ", angle
print "distance traveled: ", distance
print "poses executed/total poses: ", self.poseExecuted, "/", framesQty
if self.isLucyUp():
print "isRobotUp?: True"
cycleEnded = 1
framesExecuted = 1
endCycleBalance = upD/self.balanceHeight #Distance from the floor when lucy is straight up
if endCycleBalance > 1:
endCycleBalance = 1
else:
print "isRobotUp?: False"
if framesQty > 0:
framesExecuted = self.poseExecuted / float(framesQty)
if framesExecuted == 1:
framesExecuted = framesExecuted - framesExecuted/10
else:
framesExecuted = 0
endCycleBalance = 0
dtFitness = DTFitness(distance, concatenationGap, framesExecuted, endCycleBalance, angle)
fitnessFunction = DistanceConcatenationgapFramesexecutedEndcyclebalanceAngle(dtFitness)
#dtFitness = DTFitness(distance=distance, concatenationGap=concatenationGap, framesExecuted=framesExecuted, angle=angle, cycleEnded=cycleEnded)
#fitnessFunction = NormdistanceConcatenationgapFramesexecutedNormAngle(dtFitness)
#fitnessFunction = ConcatenationgapFramesexecutedNormAngle(dtFitness)
fitness = fitnessFunction.getFitness()
print "framesExecuted: ", framesExecuted
print "FITNESS: ", fitness
print "upDistance: ", self.sim.getUpDistance()
print "endCycleBalance: ", endCycleBalance
print "--------------------------------------------------------------------"
return fitness
def getPosesExecutedByStepQty(self):
return self.posesExecutedByStepQty
def executePose(self, pose):
error = False
#Above's N joints will be received and set on the V-REP side at the same time
jointsQty = len(self.RobotImplementedJoints)
jointExecutedCounter = 0
error = self.sim.pauseSim(self.clientID) or error
for joint in self.RobotImplementedJoints:
angle = pose.getValue(joint)
angleAX = AXAngle()
angleAX.setDegreeValue(angle)
#print "setting joint: ", joint, " to value: ", angle
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angleAX.toVrep()) or error
#.........这里部分代码省略.........