本文整理汇总了Python中history.History.clear方法的典型用法代码示例。如果您正苦于以下问题：Python History.clear方法的具体用法？Python History.clear怎么用？Python History.clear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history.History的用法示例。
在下文中一共展示了History.clear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: Simulation
# 需要导入模块: from history import History [as 别名]
# 或者: from history.History import clear [as 别名]
class Simulation(object):
def __init__(self):
self.show_impulse = False
# self.name = 'GP_--N_handfree_naive_clean'
# self.name = 'Atlas_##_--N_naive_clean'
self.name = 'Atlas_##--N'
# self.name = 'BioloidGP_--N'
# self.name = 'BioloidGP_--N_from_one_foot'
# Init api
pydart.init()
self.world = pydart.create_world(1.0 / 2000.0)
self.world.add_skeleton(config.DATA_PATH + "sdf/ground.urdf",
control=False)
if 'GP' in self.name:
self.world.add_skeleton(config.DATA_PATH +
"urdf/BioloidGP/BioloidGP.URDF")
self.world.skel.set_joint_damping(0.15)
# self.world.add_skeleton(config.DATA_PATH +
# "urdf/atlas/atlas_v3_no_head.urdf")
else:
self.world.add_skeleton(config.DATA_PATH +
"urdf/atlas/atlas_v3_no_head.urdf")
self.world.skel.set_joint_damping(0.15)
self.skel = self.world.skel # shortcut for the control skeleton
for i, dof in enumerate(self.skel.dofs):
print i, dof, 'efforts:', self.skel.tau_lo[i], self.skel.tau_hi[i]
# Configure the scene
self.cfg = scene.configure.Configure(self)
self.name = self.name.replace('--', '%.1f' % self.cfg.f_mag)
if '##' in self.name and self.cfg.tag is not None:
self.name = self.name.replace('##', self.cfg.tag)
self.prob = problem.Problem(self, self.cfg.name)
self.history = History(self)
self.impulse_live_renderer = ImpulseLiveRenderer(self)
# # ### Now, configure the controllers
self.tip_controller = model.controller.Controller(self.skel, self.prob)
self.tip_controller.pd.set_pd_params(self.name)
self.event_handler = events.Handler()
# Reset to the initial state
self.reset()
print 'skel.m = ', self.skel.m
print 'skel.approx_inertia_x = ', self.skel.approx_inertia_x()
print 'skel.q = ', self.skel.q
self.rc = scene.range_checker.RangeChecker(self)
self.rc.check_all()
# Abstract model
self.abstract_tip = abstract.dynamic.DynamicTIP(self.prob, self.rc)
# For handle callbacks properly..
self.history.clear()
self.history.push()
def is_bioloid(self):
return ("BioloidGP" in self.skel.filename)
@property
def tip(self):
return self.tip_controller.tip()
def do_plan(self):
# return self.do_ik() # Just testing IK
# Plan with Dynamic TIP
self.abstract_tip.set_x0(self.tip_controller.tips)
self.abstract_tip.plan_initial()
# cProfile.runctx('self.abstract_tip.plan_initial()',
# globals(), locals())
x0 = self.abstract_tip.x0
path = self.abstract_tip.path
print 'self.x0 = ', str(x0)
print 'self.path = ', str(path)
# print 'sleep 5 seconds'
# time.sleep(5)
self.plan = abstract.plan.Plan(x0, path)
self.plan.names = self.prob.contact_names()
print 'new plan is generated'
self.tip_controller = model.controller.Controller(self.skel,
self.prob,
self.plan)
self.tip_controller.pd.set_pd_params(self.name)
print 'new tip controller is generated'
self.do_ik()
self.name = self.name.replace('_naive', '')
def do_ik(self):
# self.plan.plot()
# self.ik = IKMulti(self, self.plan)
self.ik = ik.IKJac(self, self.plan)
#.........这里部分代码省略.........