本文整理汇总了Python中hpp.corbaserver.ProblemSolver.configAtParam方法的典型用法代码示例。如果您正苦于以下问题：Python ProblemSolver.configAtParam方法的具体用法？Python ProblemSolver.configAtParam怎么用？Python ProblemSolver.configAtParam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hpp.corbaserver.ProblemSolver的用法示例。
在下文中一共展示了ProblemSolver.configAtParam方法的5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: pp
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import configAtParam [as 别名]
ps.pathLength(nInitialPath)
#ps.addPathOptimizer('RandomShortcut') #9
#ps.optimizePath (nInitialPath)
#ps.pathLength(ps.numberPaths()-1)
#ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath (nInitialPath)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
pp(ps.numberPaths()-1)
ps.configAtParam(2,0.5)
r(ps.configAtParam(0,2))
ps.getWaypoints (0)
ps.getWaypoints (ps.numberPaths()-1)
# plot paths
import numpy as np
dt = 0.1
nPath = ps.numberPaths()-1
lineNamePrefix = "optimized_path"
for t in np.arange(0., cl.problem.pathLength(nPath), dt):
lineName = lineNamePrefix+str(t)
r.client.gui.addLine(lineName,[cl.problem.configAtParam(nPath, t)[0],cl.problem.configAtParam(nPath, t)[1],0],[cl.problem.configAtParam(nPath, t+dt)[0],cl.problem.configAtParam(nPath, t+dt)[1],0],[0,1,0.3,1])
r.client.gui.addToGroup (lineName, r.sceneName)
nPath = nInitialPath示例2: pp
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import configAtParam [as 别名]
ps.pathLength(0)
ps.addPathOptimizer('RandomShortcut')
ps.optimizePath (0)
ps.pathLength(1)
ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
pp(ps.numberPaths()-1)
r(ps.configAtParam(0,2))
ps.getWaypoints (0)
# Add light to scene
lightName = "li4"
r.client.gui.addLight (lightName, r.windowId, 0.01, [0.4,0.4,0.4,0.5])
r.client.gui.addToGroup (lightName, r.sceneName)
r.client.gui.applyConfiguration (lightName, [1,0,0,1,0,0,0])
r.client.gui.refresh ()
## Video recording
pp.dt = 0.02
r.startCapture ("capture","png")
#pp(1)示例3: ProblemSolver
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import configAtParam [as 别名]
robot.setJointBounds('base_joint_xy', [-kRange, kRange, -kRange, kRange])
ps = ProblemSolver (robot)
cl = robot.client
# q = [x, y, theta] # (z not considered since planar)
q1 = [-2, 0, 1, 0]; q2 = [2, 0, 1, 0]
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
cl.obstacle.loadObstacleModel('potential_description','cylinder_obstacle','')
ps.createOrientationConstraint ("orConstraint", "base_joint_rz", "", [1,0,0,0], [0,0,1]) # OK
ps.setNumericalConstraints ("constraints", ["orConstraint"])
ps.solve ()
ps.configAtParam(0,2)
ps.configAtParam(0,6)
ps.configAtParam(0,13)
ps.getWaypoints (0)[1]
ps.optimizePath(0)
ps.pathLength(0)
ps.pathLength(1)
ps.configAtParam(1,2)
ps.configAtParam(1,6)
ps.configAtParam(1,13)
ps.getWaypoints (1)[1]
len(ps.getWaypoints (0))
cl.problem.getIterationNumber()示例4: plotSampleSubPath
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import configAtParam [as 别名]
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
ps.solve ()
# PROBLEM !! not finding solution for environment_3d_window with mu=0.5 V0max=6.5 Projectionshooter .... V0 or Vimp too much limiting ?? 'cause V0max=7 gives a too "easy" solution ...
samples = plotSampleSubPath (cl, r, 0, 20, "curvy", [0,0.8,0.2,1])
plotConeWaypoints (cl, 0, r, "wp", "friction_cone")
#ps.saveRoadmap ('/local/mcampana/devel/hpp/data/PARAB_envir3d_with_window.rdm')
r.client.gui.setVisibility('robot/l_bounding_sphere',"OFF")
samples = plotSampleSubPath (cl, r, 0, 20, "curvy", [0,0.8,0.2,1])
r(ps.configAtParam(0,0.001))
ps.pathLength(0)
ps.getWaypoints (0)
## 3D Plot tools ##
q0 = [0, 0, 5, 0, 0, 0, 1, 0, 0, 1, 0];
r(q0)
plotFrame (r, "_", [0,0,4], 0.5)
plotPath (cl, 0, r, "pathy", 0.1)
plotThetaPlane (q1, q2, r, "ThetaPlane2")
示例5: pp
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import configAtParam [as 别名]
pp (0)
pp (1)
## Video recording
r.startCapture ("capture","png")
pp(1)
r.stopCapture ()
r.startCapture ("capture","png")
pp(2)
r.stopCapture ()
#ffmpeg -r 50 -i capture_0_%d.png -r 25 -vcodec libx264 video.mp4
robot.getJointNames ()
robot.getJointPosition ("torso_lift_joint")
r(ps.configAtParam(0,5))
ps.configAtParam(0,2)[0]
ps.configAtParam(0,6)[0]
ps.configAtParam(0,13)[0]
ps.getWaypoints (0)[1][0]
ps.configAtParam(0,2)[1]
ps.configAtParam(0,6)[1]
ps.configAtParam(0,13)[1]
ps.getWaypoints (0)[1][1]
ps.configAtParam(1,2)[0]
ps.configAtParam(1,6)[0]
ps.configAtParam(1,13)[0]
ps.getWaypoints (1)[1][0]