us.ihmc.robotics.testing.YoVariableTestGoal.doubleWithinEpsilon()方法的使用及代码示例-6ren

us.ihmc.robotics.testing.YoVariableTestGoal.doubleWithinEpsilon()方法的使用及代码示例

转载作者：知者更新时间：2024-03-14 02:11:31

本文整理了Java中us.ihmc.robotics.testing.YoVariableTestGoal.doubleWithinEpsilon()方法的一些代码示例，展示了YoVariableTestGoal.doubleWithinEpsilon()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoVariableTestGoal.doubleWithinEpsilon()方法的具体详情如下：
包路径：us.ihmc.robotics.testing.YoVariableTestGoal
类名称：YoVariableTestGoal
方法名：doubleWithinEpsilon

YoVariableTestGoal.doubleWithinEpsilon介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public static YoVariableTestGoal boundingBox(YoFramePoint3D yoFramePoint, Point3DReadOnly boxCenter, double boxEpsilon)
  {
   YoVariableTestGoal goalX = YoVariableTestGoal.doubleWithinEpsilon(yoFramePoint.getYoX(), boxCenter.getX(), boxEpsilon);
   YoVariableTestGoal goalY = YoVariableTestGoal.doubleWithinEpsilon(yoFramePoint.getYoY(), boxCenter.getY(), boxEpsilon);
   YoVariableTestGoal goalZ = YoVariableTestGoal.doubleWithinEpsilon(yoFramePoint.getYoZ(), boxCenter.getZ(), boxEpsilon);
   
   return new YoVariableTestGoal(yoFramePoint.getYoX(), yoFramePoint.getYoY(), yoFramePoint.getYoZ())
   {
     @Override
     public boolean currentlyMeetsGoal()
     {
      return goalX.currentlyMeetsGoal() && goalY.currentlyMeetsGoal() && goalZ.currentlyMeetsGoal();
     }

     @Override
     public String toString()
     {
      return "\n" + goalX.toString() + "\n" + goalY.toString() + "\n" + goalZ.toString();
     }
   };
  }
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void testWalkingInASemiCircle(double endPhaseShift, double walkingSpeed, double angularVelocity)
{
 stepTeleopManager.setShiftPlanBasedOnStepAdjustment(false);
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 double radius = Math.abs(walkingSpeed / angularVelocity);
 double expectedSemiCircleWalkTime = Math.PI / Math.abs(angularVelocity);
 stepTeleopManager.requestXGait();
 stepTeleopManager.getXGaitSettings().setEndPhaseShift(endPhaseShift);
 stepTeleopManager.setDesiredVelocity(walkingSpeed, 0.0, angularVelocity);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTimeLimit(variables.getYoTime(), expectedSemiCircleWalkTime * 1.5);
 conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.signum(angularVelocity) * Math.PI / 2, 0.1));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyX(), 0.0, 0.2));
 conductor.addTerminalGoal(YoVariableTestGoal.or(
    YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI, 0.2),
    YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI, 0.2)));
 if(Math.signum(walkingSpeed) > 0.0)
 {
   conductor.addWaypointGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), radius * walkingSpeed * 0.6));
 }
 else
 {
   conductor.addWaypointGoal(YoVariableTestGoal.doubleLessThan(variables.getRobotBodyX(), radius * walkingSpeed * 0.6));
 }
 conductor.simulate();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void standupPrecisely(double desiredCoMHeight) throws AssertionFailedError
{
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 stepTeleopManager.setDesiredBodyHeight(desiredCoMHeight);
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getCurrentHeightInWorld(), desiredCoMHeight, 0.01));
 conductor.simulate();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addTimeLimit(variables.getYoTime(), expectedSemiCircleWalkTime * 1.5);
conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.signum(angularVelocity) * Math.PI / 2, 0.1));
conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyX(), 0.0, 0.2));
conductor.addTerminalGoal(YoVariableTestGoal.or(
   YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI, 0.2),
   YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI, 0.2)));

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

@ContinuousIntegrationAnnotations.ContinuousIntegrationTest(estimatedDuration = 370.6)
@Test(timeout = 1900000)
public void rotate720InPlaceRight() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
{
 QuadrupedTestBehaviors.readyXGait(conductor, variables, stepTeleopManager);
 stepTeleopManager.requestXGait();
 stepTeleopManager.getXGaitSettings().setStanceWidth(0.35);
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, 1.0));
 conductor.simulate();
 stepTeleopManager.setDesiredVelocity(0.0, 0.0, -0.5);
 int numSpins = 2;
 for (int i = 0; i < numSpins; i++)
 {
   conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
   conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 10.0));
   conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 4.0, 1e-2));
   conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 2.0, 1e-2));
   conductor.simulate();
   conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
   conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 10.0));
   conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 4.0, 1e-2));
   conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), 0.0, 1e-2));
   conductor.simulate();
 }
 conductor.concludeTesting();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 4.0, 1e-2));
conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 2.0, 1e-2));
conductor.simulate();
conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 4.0, 1e-2));
conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), 0.0, 1e-2));
conductor.simulate();

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

@ContinuousIntegrationTest(estimatedDuration = 74.7)
@Test(timeout = 370000)
public void testScriptedFlatGroundWalking() throws BlockingSimulationRunner.SimulationExceededMaximumTimeException
{
 QuadrupedTestBehaviors.standUp(conductor, variables);
 QuadrupedTestBehaviors.startBalancing(conductor, variables, stepTeleopManager);
 stepTeleopManager.requestSteppingState();
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, 1.0));
 conductor.simulate();
 List<QuadrupedTimedStepMessage> steps = getSteps();
 QuadrupedTimedStepListMessage message = QuadrupedMessageTools.createQuadrupedTimedStepListMessage(steps, false);
 stepTeleopManager.publishTimedStepListToController(message);
 // check robot is still upright and walked forward
 Point3D expectedFinalPlanarPosition = getFinalPlanarPosition();
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyX(), expectedFinalPlanarPosition.getX(), 0.1));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyY(), expectedFinalPlanarPosition.getY(), 0.1));
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), expectedFinalPlanarPosition.getZ(), 0.1));
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, message.getQuadrupedStepList().getLast().getTimeInterval().getEndTime() + 2.0));
 conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
 conductor.simulate();
 conductor.concludeTesting();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void lowerHeightUntilFailure(double originalHeight) throws AssertionFailedError
{
 for (double heightDelta = 0.0; (originalHeight + heightDelta) > 0.38; heightDelta -= 0.01)
 {
   double desiredCoMHeight = originalHeight + heightDelta;
   stepTeleopManager.setDesiredBodyHeight(desiredCoMHeight);
   variables.getLimitJointTorques().set(false);
   conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
   conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getCurrentHeightInWorld(), originalHeight + heightDelta, 0.01));
   conductor.simulate();
   try
   {
    variables.getLimitJointTorques().set(true);
    conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
    conductor.addSustainGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getCurrentHeightInWorld(), originalHeight + heightDelta, 0.01));
    conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 1.0));
    conductor.simulate();
   }
   catch (AssertionFailedError assertionFailedError)
   {
    PrintTools.info("Failed to stand at " + desiredCoMHeight);
    break;
   }
 }
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

private void raiseHeightUntilFailure(double originalHeight) throws AssertionFailedError
  {
   for (double heightDelta = 0.38 - originalHeight; (originalHeight + heightDelta) < originalHeight; heightDelta += 0.01)
   {
     double desiredCoMHeight = originalHeight + heightDelta;
     stepTeleopManager.setDesiredBodyHeight(desiredCoMHeight);

     variables.getLimitJointTorques().set(false);
     conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
     conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getCurrentHeightInWorld(), originalHeight + heightDelta, 0.01));
     conductor.simulate();

     try
     {
      variables.getLimitJointTorques().set(true);
      conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
      conductor.addSustainGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getCurrentHeightInWorld(), originalHeight + heightDelta, 0.01));
      conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 1.0));
      conductor.simulate();
     }
     catch (AssertionFailedError assertionFailedError)
     {
      PrintTools.info("Failed to stand at " + desiredCoMHeight);
      break;
     }
   }
  }
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

@ContinuousIntegrationTest(estimatedDuration = 120.0)
  @Test(timeout = 800000)
  public void rotate360InPlaceRight() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
  {
   QuadrupedTestBehaviors.standUp(conductor, variables);
   
   variables.getYoPlanarVelocityInputZ().set(-0.1);
   
   int numSpins = 1;
   for (int i = 0; i < numSpins; i++)
   {
     conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
     conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 50.0));
//         conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 4.0, 1e-2));
     conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 2.0, 1e-2));
     conductor.simulate();
//
     conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
     conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 50.0));
//         conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 4.0, 1e-2));
     conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), 0.0, 1e-2));
     conductor.simulate();
   }
  }

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

@ContinuousIntegrationTest(estimatedDuration = 120.0)
  @Test(timeout = 800000)
  public void rotate360InPlaceLeft() throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException
  {
   QuadrupedTestBehaviors.standUp(conductor, variables);
   
   variables.getYoPlanarVelocityInputZ().set(0.1);
   
   int numSpins = 1;
   for (int i = 0; i < numSpins; i++)
   {
     conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
     conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 10.0));
//         conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 4.0, 1e-2));
     conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), Math.PI / 2.0, 1e-2));
     conductor.simulate();

     conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
     conductor.addSustainGoal(YoVariableTestGoal.doubleLessThan(variables.getYoTime(), variables.getYoTime().getDoubleValue() + 10.0));
//         conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), -Math.PI / 4.0, 1e-2));
     conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyYaw(), 0.0, 1e-2));
     conductor.simulate();
   }
  }
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

public static void standUp(GoalOrientedTestConductor conductor, QuadrupedPositionTestYoVariables variables) throws AssertionFailedError
{
 conductor.addTerminalGoal(YoVariableTestGoal.enumEquals(variables.getPositionControllerState(), QuadrupedPositionControllerState.DO_NOTHING));
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, 1.0));
 conductor.simulate();
 variables.getUserTrigger().set(QuadrupedPositionControllerRequestedEvent.REQUEST_STAND_PREP);
 conductor.addTerminalGoal(YoVariableTestGoal.enumEquals(variables.getPositionControllerState(), QuadrupedPositionControllerState.STAND_READY));
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, 2.0));
 conductor.simulate();
 variables.getUserTrigger().set(QuadrupedPositionControllerRequestedEvent.REQUEST_CRAWL);
 conductor.addTerminalGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyZ(), variables.getYoComPositionInputZ().getDoubleValue(), 0.1));
 conductor.addTerminalGoal(YoVariableTestGoal.enumEquals(variables.getPositionControllerState(), QuadrupedPositionControllerState.CRAWL));
 conductor.addTerminalGoal(QuadrupedTestGoals.timeInFuture(variables, 2.0));
 conductor.simulate();
}

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

finalPoint.scaleAdd(0.25, lastMessage3.getQuadrupedStepMessage().getGoalPosition(), finalPoint);
conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyX(), finalPoint.getX(), 0.15));
conductor.addWaypointGoal(YoVariableTestGoal.doubleWithinEpsilon(variables.getRobotBodyY(), finalPoint.getY(), 0.15));

c - 我尝试理解 [c 代码 -> 汇编] 代码
我尝试理解[c代码 -> 汇编]代码 void node::Check( data & _data1, vector& _data2) { -> push ebp -> mov ebp,esp ->
c# - 在当前表单(代码)的上下文中从字符串动态运行 C# 代码
我需要在当前表单(代码)的上下文中运行文本文件中的代码。其中一项要求是让代码创建新控件并将其添加到当前窗体。例如，在Form1.cs中: using System.Windows.Forms; ..
c# - c++代码(malloc方法)到c#代码
我有此 C++ 代码并将其转换为 C# (.net Framework 4) 代码。有没有人给我一些关于 malloc、free 和 sprintf 方法的提示？ int monate = ee; d
C 代码，简单的 Web 服务器(代码 OK)
我的网络服务器代码有问题 #include #include #include #include #include #include #include int
html - 将特定列表元素置于斜体的 CSS 代码(不更改 html 代码)
给定以下 html 代码，将列表中的第三个元素(即“美丽”一词)以斜体显示的 CSS 代码是什么？当然，我可以给这个元素一个 id 或一个 class，但 html 代码必须保持不变。谢谢
javascript - 是否有一些库可用于 IQR 代码(不是 QR 代码)？
关闭。这个问题不符合Stack Overflow guidelines .它目前不接受答案。我们不允许提问寻求书籍、工具、软件库等的推荐。您可以编辑问题，以便用事实和引用来回答。关闭 7 年前。
macros - 在 Inno Setup [代码] 部分将宏扩展为 Pascal 代码
我试图制作一个宏来避免重复代码和注释。我试过这个: #define GrowOnPage(any Page, any Component) Component.Width := Page.Surfa
c# - 我正在尝试将我的旧 c++ 代码 "translate"转换为 c# 代码
我正在尝试将我的旧 C++ 代码“翻译”成头条新闻所暗示的 C# 代码。问题是我是 C# 中的新手，并不是所有的东西都像 C++ 中那样。在 C++ 中这些解决方案运行良好，但在 C# 中只是不能。我
r - 让 Visual Studio 代码(自动)格式化 R 代码
在 Windows 10 上工作，R 语言的格式化程序似乎没有在 Visual Studio Code 中完成它的工作。我试过R support for Visual Studio Code和 R-T
dynamic - 是否可以在 Python 脚本中生成和执行 Python 代码？ [动态 Python 代码]
我正在处理一些报告(计数)，我必须获取不同参数的计数。非常简单但乏味。一个参数的示例查询: qCountsEmployee = ( "select count(*) from %s wher
ios - 随机和偶然的网络错误(NSURLErrorDomain 代码=-1001 和 NSURLErrorDomain 代码=-1005)
最近几天我尝试从 d00m 调试网络错误。我开始用尽想法/线索，我希望其他 SO 用户拥有可能有用的宝贵经验。我希望能够提供所有相关信息，但我个人无法控制服务器环境。整个事情始于用户注意到我们应用程
javascript - visual studio 代码 intellisense 不适用于 dojo amd 代码
我有一个 app.js 文件，其中包含如下 dojo amd 模式代码: require(["dojo/dom", ..], function(dom){ dom.byId('someId').i
cuda - 'code=sm_X' 是否仅嵌入二进制(cubin)代码，或 PTX 代码，或两者？
我对“-gencode”语句中的“code=sm_X”选项有点困惑。一个例子:NVCC 编译器选项有什么作用 -gencode arch=compute_13,code=sm_13 嵌入库中？只有
javascript - 在 Javascript 下拉列表中添加 HTML 代码，Javascript 不评估 HTML 代码
我为我的表格使用 X-editable 框架。但是我有一些问题。 $(document).ready(function() { $('.access').editable({
python - 在 linux 中运行 flask/python 代码？基本 flask 代码
我一直在通过本教程学习 flask/python http://blog.miguelgrinberg.com/post/the-flask-mega-tutorial-part-i-hello-wo
vim - G 代码 M 代码 VI 和 EMACS 的 CNC 语法
我想将 Vim 和 EMACS 用于 CNC、G 代码和 M 代码。 Vim 或 EMACS 是否有任何语法或模式来处理这种类型的代码？最佳答案一些快速搜索使我找到了 this vim 和 thi
iphone - 寻找关于将 Pre-Storyboard 代码 (XCode4) 移动到 Storyboard 代码 (XCode5) 的教程
关闭。这个问题不符合Stack Overflow guidelines .它目前不接受答案。想改进这个问题？更新问题，使其成为 on-topic对于堆栈溢出。 7年前关闭。 Improve this
vim - 如何让 Vim 理解 *.md 文件包含 Markdown 代码，而不是 Modula-2 代码？
这个问题在这里已经有了答案: Enabling markdown highlighting in Vim (5 个回答) 6年前关闭。当我在 Vim 中编辑包含 Markdown 代码的 READM
ios - 错误域=AVFoundationErrorDomain 代码=-11800 "The operation could not be completed"{错误域=NSOSStatusErrorDomain 代码=-16976 "(null)"}
我正在 Swift3 iOS 中开发视频应用程序。基本上我必须将视频 Assets 和音频与淡入淡出效果合并为一个并将其保存到 iPhone 画廊。为此，我使用以下方法: private func d
jenkins - 无法通过 Jenkins 管道作业的 jenkinsfile 中的 Groovy 代码(或 java 代码)创建文件
pipeline { agent any stages { stage('Build') { steps { e

知者

个人简介

我是一名优秀的程序员,十分优秀！

作者热门文章

滴滴打车优惠券免费领取

全站热门文章

首页

博学

6Ren·AI

商城

us.ihmc.robotics.testing.YoVariableTestGoal.doubleWithinEpsilon()方法的使用及代码示例

YoVariableTestGoal.doubleWithinEpsilon介绍

代码示例