本文整理汇总了Python中hpp.corbaserver.ProblemSolver.setParameter方法的典型用法代码示例。如果您正苦于以下问题：Python ProblemSolver.setParameter方法的具体用法？Python ProblemSolver.setParameter怎么用？Python ProblemSolver.setParameter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.setParameter方法的2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: ViewerFactory
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import setParameter [as 别名]
q_init = q1;
# q_goal = q2
q_goal = q3
from hpp.gepetto import ViewerFactory, PathPlayerGui
vf = ViewerFactory (ps)
# vf.loadObstacleModel ("ur_description","obstacles","obstacles")
vf.loadObstacleModel ("ur_description","table","table")
# vf.loadObstacleModel ("ur_description","wall","wall")
vf(q1)
ps.lockJoint("elbow_joint", [q1[2]])
ps.selectPathValidation("Progressive", .05)
ps.setParameter("SplineGradientBased/alphaInit", CORBA.Any(CORBA.TC_double, 0.3))
ps.setParameter("SplineGradientBased/alwaysStopAtFirst", CORBA.Any(CORBA.TC_boolean, True))
ps.setParameter("SplineGradientBased/linearizeAtEachStep", CORBA.Any(CORBA.TC_boolean, False))
print "Optimizer parameters are:"
print "alphaInit:", ps.getParameter("SplineGradientBased/alphaInit").value()
print "alwaysStopAtFirst:", ps.getParameter("SplineGradientBased/alwaysStopAtFirst").value()
print "linearizeAtEachStep:", ps.getParameter("SplineGradientBased/linearizeAtEachStep").value()
print ""
import datetime as dt
totalSolveTime = dt.timedelta (0)
totalOptimTime = dt.timedelta (0)
totalNumberNodes = 0
N = 20
for i in range (N):示例2: RobotRod
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import setParameter [as 别名]
robot = RobotRod("rod")
robot.setJointBounds ("root_joint", [-7, 6.5, -7, 7,0.4,0.4])
# Kinodynamic methods need at least 6 extraConfigs, to store the velocity (first 3) and acceleration (last 3) of the translation of the root
robot.client.robot.setDimensionExtraConfigSpace(6)
# set the bounds for velocity and acceleration :
aMax=1.
vMax=2.
robot.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)
# define the velocity and acceleration bounds used by the steering method. This bounds will be stastified along the whole trajectory.
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
# Uncomment the following line if you want to constraint the orientation of the base of the robot to follow the direction of the motion. Note that in this case the initial and final orientation are not considered.
#ps.setParameter("Kinodynamic/forceOrientation",True)
# The following line constraint the random sampling method to fix all the extraDOF at 0 during sampling. Comment it if you want to sample states with non-null velocity and acceleration. Note that it increase the complexity of the problem and greatly increase the computation time.
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:3] = [6.5,-4,0.4] #root position