private DRCSimulationStarter(DRCRobotModel robotModel, CommonAvatarEnvironmentInterface environment, GroundProfile3D groundProfile3D) { this.robotModel = robotModel; this.environment = environment; this.guiInitialSetup = new DRCGuiInitialSetup(false, false); this.robotInitialSetup = robotModel.getDefaultRobotInitialSetup(0, 0); this.createSCSSimulatedSensors = true; this.scsInitialSetup = new DRCSCSInitialSetup(groundProfile3D, robotModel.getSimulateDT()); this.scsInitialSetup.setDrawGroundProfile(environment == null); this.scsInitialSetup.setInitializeEstimatorToActual(false); this.scsInitialSetup.setTimePerRecordTick(robotModel.getControllerDT()); this.scsInitialSetup.setRunMultiThreaded(true); this.highLevelControllerParameters = robotModel.getHighLevelControllerParameters(); this.walkingControllerParameters = robotModel.getWalkingControllerParameters(); this.capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters(); this.contactPointParameters = robotModel.getContactPointParameters(); }
HighLevelControllerParameters highLevelControllerParameters = robotModel.getHighLevelControllerParameters();
scsInitialSetup.setRecordFrequency(recordFrequency); HighLevelControllerParameters highLevelControllerParameters = model.getHighLevelControllerParameters(); WalkingControllerParameters walkingControllerParameters = model.getWalkingControllerParameters(); ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters();
HighLevelControllerParameters highLevelControllerParameters = model.getHighLevelControllerParameters(); WalkingControllerParameters walkingControllerParameters = model.getWalkingControllerParameters(); ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = model.getCapturePointPlannerParameters();
HighLevelControllerParameters highLevelControllerParameters = robotModel.getHighLevelControllerParameters(); WalkingControllerParameters walkingControllerParamaters = robotModel.getWalkingControllerParameters(); ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters();
HighLevelControllerParameters highLevelControllerParameters = robotModel.getHighLevelControllerParameters(); WalkingControllerParameters walkingControllerParamaters = robotModel.getWalkingControllerParameters(); ICPWithTimeFreezingPlannerParameters capturePointPlannerParameters = robotModel.getCapturePointPlannerParameters();