@Override public void actionPerformed(ActionEvent e) { // analyzer.updateCorruptorAndAnalyzeDataInBuffer(); analyzer.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); } }
@Override public void processData() { analyzer.copyMeasuredTorqueToAppliedTorque(); }
public void rememberCorruptorVariableValues() { analyzer.rememberCorruptorVariableValues(); }
public void optimizeCorruptorValues(boolean computeTorqueOffsetsBasedOnAverages) updateCorruptorAndAnalyzeDataInBuffer(); simulationConstructionSet.gotoOutPointNow(); LinkedHashMap<OneDoFJoint, Double> currentTorqueScoreValues = new LinkedHashMap<OneDoFJoint, Double>(); getCurrentCorruptorValues(corruptorVariablesToOptimize, previousCorruptorVariableValues); resetTorqueScoreValuesToZero(previousTorqueScoreValues); getCurrentCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); resetTorqueScoreValuesToZero(currentTorqueScoreValues); moveCorruptorValuesRandomly(random, currentCorruptorVariableValues, comOffsetChangeDelta); setCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); this.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); printOutAllCorruptorVariables(); printOutCorruptorVariablesToOptimize(); getCurrentCorruptorValues(corruptorVariablesToOptimize, previousCorruptorVariableValues); setCurrentToPreviousValues(currentCorruptorVariableValues, previousCorruptorVariableValues); setCurrentToPreviousValues(currentTorqueScoreValues, previousTorqueScoreValues); setCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); this.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages);
analyzer = new HumanoidDiagnosticsWhenHangingAnalyzer(simulationConstructionSet, controller, fullRobotModelCorruptor); analyzer.printOutAllCorruptorVariables();
@Override protected Object doInBackground() throws Exception { analyzer.optimizeCorruptorValues(computeTorqueOffsetsBasedOnAverages); setText("Optimize"); return null; }};
public void restoreCorruptorVariableValues() { analyzer.restoreCorruptorVariableValues(); }
public void setCorruptorVariableValuesToOptimizeToZero() { analyzer.setCorruptorVariableValuesToOptimizeToZero(); }
public void setVariablesToOptimize(String[] containsToOptimizeCoM, String[] containsToOptimizeTorqueScores) { analyzer.setVariablesToOptimize(containsToOptimizeCoM, containsToOptimizeTorqueScores); }
@Override public void actionPerformed(ActionEvent e) { if (this.getText().equals("Optimize")) { this.setText("StopOptimize"); SwingWorker worker = new SwingWorker() { @Override protected Object doInBackground() throws Exception { analyzer.optimizeCorruptorValues(computeTorqueOffsetsBasedOnAverages); setText("Optimize"); return null; }}; worker.execute(); } else { analyzer.stopOptimization(); } } }
public void optimizeCorruptorValues(boolean computeTorqueOffsetsBasedOnAverages) updateCorruptorAndAnalyzeDataInBuffer(); simulationConstructionSet.gotoOutPointNow(); LinkedHashMap<OneDoFJointBasics, Double> currentTorqueScoreValues = new LinkedHashMap<OneDoFJointBasics, Double>(); getCurrentCorruptorValues(corruptorVariablesToOptimize, previousCorruptorVariableValues); resetTorqueScoreValuesToZero(previousTorqueScoreValues); getCurrentCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); resetTorqueScoreValuesToZero(currentTorqueScoreValues); moveCorruptorValuesRandomly(random, currentCorruptorVariableValues, comOffsetChangeDelta); setCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); this.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); printOutAllCorruptorVariables(); printOutCorruptorVariablesToOptimize(); getCurrentCorruptorValues(corruptorVariablesToOptimize, previousCorruptorVariableValues); setCurrentToPreviousValues(currentCorruptorVariableValues, previousCorruptorVariableValues); setCurrentToPreviousValues(currentTorqueScoreValues, previousTorqueScoreValues); setCorruptorValues(corruptorVariablesToOptimize, currentCorruptorVariableValues); this.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages);
analyzer = new HumanoidDiagnosticsWhenHangingAnalyzer(simulationConstructionSet, controller, fullRobotModelCorruptor); simulationConstructionSet.addButton(copyMeasuredTorqueToAppliedTorqueButton); analyzer.printOutAllCorruptorVariables();
@Override protected Object doInBackground() throws Exception { analyzer.optimizeCorruptorValues(computeTorqueOffsetsBasedOnAverages); setText("Optimize"); return null; } };
public void restoreCorruptorVariableValues() { analyzer.restoreCorruptorVariableValues(); }
public void setCorruptorVariableValuesToOptimizeToZero() { analyzer.setCorruptorVariableValuesToOptimizeToZero(); }
public void setVariablesToOptimize(String[] containsToOptimizeCoM, String[] containsToOptimizeTorqueScores) { analyzer.setVariablesToOptimize(containsToOptimizeCoM, containsToOptimizeTorqueScores); }
@Override public void actionPerformed(ActionEvent e) { if (this.getText().equals("Optimize")) { this.setText("StopOptimize"); SwingWorker worker = new SwingWorker() { @Override protected Object doInBackground() throws Exception { analyzer.optimizeCorruptorValues(computeTorqueOffsetsBasedOnAverages); setText("Optimize"); return null; }}; worker.execute(); } else { analyzer.stopOptimization(); } } }
analyzer = new HumanoidDiagnosticsWhenHangingAnalyzer(simulationConstructionSet, controller, fullRobotModelCorruptor); analyzer.printOutAllCorruptorVariables();
@Override public void actionPerformed(ActionEvent e) { // analyzer.updateCorruptorAndAnalyzeDataInBuffer(); analyzer.updateDataAndComputeTorqueOffsetsBasedOnAverages(computeTorqueOffsetsBasedOnAverages); } }
@Override protected Object doInBackground() throws Exception { analyzer.optimizeCorruptorValues(computeTorqueOffsetsBasedOnAverages); setText("Optimize"); return null; }};