switch (mode) { case 0: Assert.assertTrue(topAvailable); predictVertical(residual, topLeftAvailable, topRightAvailable, topLeft, topLine, mbOffX, blkX, blkY, pixOut); break; case 1: Assert.assertTrue(leftAvailable); predictHorizontal(residual, topLeftAvailable, topLeft, leftRow, mbOffX, blkX, blkY, pixOut); break; break; case 3: Assert.assertTrue(topAvailable); predictDiagonalDownLeft(residual, topLeftAvailable, topAvailable, topRightAvailable, topLeft, topLine, mbOffX, blkX, blkY, pixOut); break; case 4: Assert.assertTrue(topAvailable && leftAvailable && topLeftAvailable); predictDiagonalDownRight(residual, topRightAvailable, topLeft, leftRow, topLine, mbOffX, blkX, blkY, pixOut); break; case 5: Assert.assertTrue(topAvailable && leftAvailable && topLeftAvailable); predictVerticalRight(residual, topRightAvailable, topLeft, leftRow, topLine, mbOffX, blkX, blkY, pixOut); break; case 6: Assert.assertTrue(topAvailable && leftAvailable && topLeftAvailable); predictHorizontalDown(residual, topRightAvailable, topLeft, leftRow, topLine, mbOffX, blkX, blkY, pixOut); break; case 7:
private void outChunkIfNeeded(int entryNo) throws IOException { Assert.assertTrue(tgtChunkDurationUnit == Unit.FRAME || tgtChunkDurationUnit == Unit.SEC); if (tgtChunkDurationUnit == Unit.FRAME && curChunk.size() * tgtChunkDuration.getDen() == tgtChunkDuration.getNum()) { outChunk(entryNo); } else if (tgtChunkDurationUnit == Unit.SEC && chunkDuration > 0 && chunkDuration * tgtChunkDuration.getDen() >= tgtChunkDuration.getNum() * timescale) { outChunk(entryNo); } }
private void outChunkIfNeeded(int entryNo) throws IOException { Assert.assertTrue(tgtChunkDurationUnit == Unit.FRAME || tgtChunkDurationUnit == Unit.SEC); if (tgtChunkDurationUnit == Unit.FRAME && curChunk.size() * tgtChunkDuration.getDen() == tgtChunkDuration.getNum()) { outChunk(entryNo); } else if (tgtChunkDurationUnit == Unit.SEC && chunkDuration > 0 && chunkDuration * tgtChunkDuration.getDen() >= tgtChunkDuration.getNum() * timescale) { outChunk(entryNo); } }
private void outChunkIfNeeded() throws IOException { Assert.assertTrue(tgtChunkDurationUnit == Unit.FRAME || tgtChunkDurationUnit == Unit.SEC); if (tgtChunkDurationUnit == Unit.FRAME && framesInCurChunk * tgtChunkDuration.getDen() == tgtChunkDuration.getNum()) { outChunk(); } else if (tgtChunkDurationUnit == Unit.SEC && chunkDuration > 0 && chunkDuration * tgtChunkDuration.getDen() >= tgtChunkDuration.getNum() * _timescale) { outChunk(); } }
private void outChunkIfNeeded() throws IOException { Assert.assertTrue(tgtChunkDurationUnit == Unit.FRAME || tgtChunkDurationUnit == Unit.SEC); if (tgtChunkDurationUnit == Unit.FRAME && framesInCurChunk * tgtChunkDuration.getDen() == tgtChunkDuration.getNum()) { outChunk(); } else if (tgtChunkDurationUnit == Unit.SEC && chunkDuration > 0 && chunkDuration * tgtChunkDuration.getDen() >= tgtChunkDuration.getNum() * timescale) { outChunk(); } }
private void outChunkIfNeeded() throws IOException { Assert.assertTrue(tgtChunkDurationUnit == Unit.FRAME || tgtChunkDurationUnit == Unit.SEC); if (tgtChunkDurationUnit == Unit.FRAME && framesInCurChunk * tgtChunkDuration.getDen() == tgtChunkDuration.getNum()) { outChunk(); } else if (tgtChunkDurationUnit == Unit.SEC && chunkDuration > 0 && chunkDuration * tgtChunkDuration.getDen() >= tgtChunkDuration.getNum() * timescale) { outChunk(); } }
PolygonWiggler.convertToInequalityConstraints(convexPolygon, Aineq, bineq, 0.0); Assert.assertTrue(MatrixFeatures.isEquals(Aineq, constraintToConvexRegion.Aineq, 1e-7)); Assert.assertTrue(MatrixFeatures.isEquals(bineq, constraintToConvexRegion.bineq, 1e-7)); PolygonWiggler.convertToInequalityConstraints(convexPolygon, Aineq, bineq, 0.02); Assert.assertTrue(MatrixFeatures.isEquals(Aineq, constraintToConvexRegion.Aineq, 1e-7)); Assert.assertTrue(MatrixFeatures.isEquals(bineq, constraintToConvexRegion.bineq, 1e-7)); CommonOps.multAdd(-1.0, Aineq, positionOffset, bineq); Assert.assertTrue(MatrixFeatures.isEquals(Aineq, constraintToConvexRegion.Aineq, 1e-7)); Assert.assertTrue(MatrixFeatures.isEquals(bineq, constraintToConvexRegion.bineq, 1e-7));
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testStandingWithPerfectTrackingAndAngularMomentum() { ICPOptimizationQPSolver solver = new ICPOptimizationQPSolver(10, false); solver.setCMPFeedbackConditions(10.0, true); solver.setFeedbackConditions(0.1, 3.0, 500.0); FrameVector2D icpError = new FrameVector2D(); FramePoint2D perfectCMP = new FramePoint2D(worldFrame, 0.05, 0.01); assertTrue(solver.compute(icpError, perfectCMP)); FrameVector2D cmpCoPDifference = new FrameVector2D(); FrameVector2D copFeedback = new FrameVector2D(); solver.getCMPFeedbackDifference(cmpCoPDifference); solver.getCoPFeedbackDifference(copFeedback); FrameVector2D cmpCoPDifferenceExpected = new FrameVector2D(); FrameVector2D copFeedbackExpected = new FrameVector2D(); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); }
footstepLocationExpected.add(icpError); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testStandingUnconstrained() { ICPOptimizationQPSolver solver = new ICPOptimizationQPSolver(10, false); solver.setFeedbackConditions(0.1, 3.0, 100000.0); FrameVector2D icpError = new FrameVector2D(worldFrame, 0.05, 0.10); FramePoint2D perfectCMP = new FramePoint2D(worldFrame, 0.05, 0.01); assertTrue(solver.compute(icpError, perfectCMP)); FrameVector2D cmpCoPDifference = new FrameVector2D(); FrameVector2D copFeedback = new FrameVector2D(); solver.getCMPFeedbackDifference(cmpCoPDifference); solver.getCoPFeedbackDifference(copFeedback); FrameVector2D cmpCoPDifferenceExpected = new FrameVector2D(); FrameVector2D copFeedbackExpected = new FrameVector2D(); copFeedbackExpected.set(icpError); copFeedbackExpected.scale(3.0); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); }
footstepLocationExpected.add(icpError); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testStandingUnconstrainedWithAndAngularMomentum() { ICPOptimizationQPSolver solver = new ICPOptimizationQPSolver(10, false); solver.setCMPFeedbackConditions(1000.0, true); solver.setFeedbackConditions(0.1, 0.1, 3.0, 3.0, 100000.0); FrameVector2D icpError = new FrameVector2D(worldFrame, 0.05, 0.10); FramePoint2D perfectCMP = new FramePoint2D(worldFrame, 0.05, 0.01); assertTrue(solver.compute(icpError, perfectCMP)); FrameVector2D cmpCoPDifference = new FrameVector2D(); FrameVector2D copFeedback = new FrameVector2D(); solver.getCMPFeedbackDifference(cmpCoPDifference); solver.getCoPFeedbackDifference(copFeedback); FrameVector2D cmpCoPDifferenceExpected = new FrameVector2D(); FrameVector2D copFeedbackExpected = new FrameVector2D(); copFeedbackExpected.set(icpError); copFeedbackExpected.scale(3.0); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP Feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); }
copFeedbackExpected.sub(perfectCMP); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon));
Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon));
Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
footstepLocationExpected.setY(desiredFootstepLocation.getY() + solution.get(3)); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));
footstepLocationExpected.setY(desiredFootstepLocation.getY() + solution.get(3)); Assert.assertTrue("The CoP feedback is wrong.", copFeedback.epsilonEquals(copFeedbackExpected, epsilon)); Assert.assertTrue("The CMP feedback is wrong.", cmpCoPDifference.epsilonEquals(cmpCoPDifferenceExpected, epsilon)); Assert.assertTrue("The footstep location solution is wrong.", footstepLocation.epsilonEquals(footstepLocationExpected, epsilon));