本文整理汇总了Python中hpp.corbaserver.ProblemSolver.numberNodes方法的典型用法代码示例。如果您正苦于以下问题：Python ProblemSolver.numberNodes方法的具体用法？Python ProblemSolver.numberNodes怎么用？Python ProblemSolver.numberNodes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.numberNodes方法的4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: len
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import numberNodes [as 别名]
#gui.removeFromGroup("path0",r.sceneName)
#gui.getNodeList()
#gui.createGroup ('sphere_wp0_group')
#gui.getGroupNodeList ('sphere_wp0_group')
## IMPORT SCENE AND CONFIGS TO BLENDER ##
# I skip the "collada generation part" since I already have them from blender ...
blender/urdf_to_blender.py -p /local/mcampana/devel/hpp/videos/ -i /local/mcampana/devel/hpp/src/animals_description/urdf/sphere_mesh.urdf -o robot_blend.py # generate robot loadable by Blender
from viewer_display_library import pathToYamlFile, writeEdgeSamples, writePathSamples, writeSkipList
len(np.arange(0, ps.pathLength(pathId), 0.02))
pathToYamlFile (cl, r, "frames.yaml ", "robot/base_link", pathId, q2, 0.02)
ps.numberNodes()
# Plot cones and edges in viewer
plotConesRoadmap (cl, r, 'cone_rm_group', "friction_cone2")
plotEdgesRoadmap (cl, r, 'edgeGroup', 70, [0,1,0.2,1])
gui.writeNodeFile('cone_rm_group','cones_RM.dae')
## Write EDGES in a file, which will be parsed by a Blender-Python script
writeEdgeSamples (cl, 'edges.txt', 70)
## Write PATH samples in a file, which will be parsed by a Blender-Python script
pathSamples = plotSampleSubPath (cl, r, pathId, 70, "path0", [0,0,1,1])
writePathSamples (pathSamples, 'path.txt')
示例2: len
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import numberNodes [as 别名]
#gui.removeFromGroup("path0",r.sceneName)
#gui.getNodeList()
#gui.createGroup ('sphere_wp0_group')
#gui.getGroupNodeList ('sphere_wp0_group')
#ffmpeg -i untitled.mp4 -vcodec libx264 -crf 24 video.mp4 # to compress a video
## IMPORT SCENE AND CONFIGS TO BLENDER ##
blender/urdf_to_blender.py -p /local/mcampana/devel/hpp/videos/ -i /local/mcampana/devel/hpp/src/animals_description/urdf/sphere_mesh.urdf -o robot_blend.py # generate robot loadable by Blender
from viewer_display_library import pathToYamlFile, writeEdgeSamples, writePathSamples, writeSkipList
len(np.arange(0, ps.pathLength(pathId), 0.02))
pathToYamlFile (cl, r, "frames.yaml ", "robot/base_link", pathId, q2, 0.02)
ps.numberNodes()
# Plot cones and edges in viewer
plotConesRoadmap (cl, r, 'cone_rm_group', "friction_cone2")
plotEdgesRoadmap (cl, r, 'edgeGroup', 70, [0,1,0.2,1])
gui.writeNodeFile('cone_rm_group','cones_RM.dae')
## Write EDGES in a file, which will be parsed by a Blender-Python script
writeEdgeSamples (cl, 'edges.txt', 70)
## Write PATH samples in a file, which will be parsed by a Blender-Python script
pathSamples = plotSampleSubPath (cl, r, pathId, 70, "path0", [0,0,1,1])
writePathSamples (pathSamples, 'path.txt')
示例3: plotFrame
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import numberNodes [as 别名]
plotFrame (r, "_", [0,0,1.5], 0.5)
# First parabolas: vmax = 8m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(4.5)
plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2")
ps.clearRoadmap();
solveTime = ps.solve () # 0.312 s
pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff
samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1])
plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2")
plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02)
print "solve duration: " + str(solveTime)
print "path length: " + str(ps.pathLength(pahtId))
print "number of waypoints: " + str(len(ps.getWaypoints (pahtId)))
print "number of nodes: " + str(ps.numberNodes ())
cl.problem.getResultValues()
# Second parabolas: vmax = 6.5m/s, mu = 0.5
plotCone (q1, cl, r, "cone1", "friction_cone"); plotCone (q2, cl, r, "cone12", "friction_cone")
cl.problem.setFrictionCoef(0.5); cl.problem.setMaxVelocityLim(4.5)
ps.clearRoadmap();
solveTime = ps.solve () # 0.9689 s
pahtId = ps.numberPaths()-offsetOrientedPath
samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path2", [1,0,0,1])
plotConeWaypoints (cl, pahtId, r, "wp2", "friction_cone")
plotSpheresWaypoints (cl, pahtId, r, "sphere_wp2", [1,0,0,1], 0.02)
print "solve duration: " + str(solveTime)
print "path length: " + str(ps.pathLength(pahtId))
print "number of waypoints: " + str(len(ps.getWaypoints (pahtId)))
print "number of nodes: " + str(ps.numberNodes ())示例4: open
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import numberNodes [as 别名]
toSeconds = np.array ([60*60,60,1,1e-3])
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
imax=3;
f = open('results.txt','a')
# Assuming that seed in modified directly in HPP (e.g. in core::PathPlanner::solve or ProblemSolver constr)
for i in range(0, imax):
print i
ps.clearRoadmap ()
solveTimeVector = ps.solve ()
solveTime = np.array (solveTimeVector).dot (toSeconds)
pathId = ps.numberPaths()-offsetOrientedPath
pathLength = ps.pathLength (pathId)
pathNumberWaypoints = len(ps.getWaypoints (pathId))
roadmapNumberNodes = ps.numberNodes ()
#TODO: number collisions (checked ???)
#TODO: number parabola that has failed (because of which constraint ??)
#ps.addPathOptimizer("Prune")
#ps.optimizePath (pathId)
#prunePathId = ps.numberPaths()-1
# Write important results #
f.write('Try number: '+str(i)+'\n')
f.write('with parameters: vmax='+str(vmax)+' and mu='+str(mu)+'\n')
f.write('solve duration: '+str(solveTime)+'\n')
f.write('path length: '+str(pathLength)+'\n')
f.write('number of waypoints: '+str(pathNumberWaypoints)+'\n')
f.write('number of nodes: '+str(roadmapNumberNodes)+'\n')