How to use

getSimulatedRobotTimeProvider

method

in

us.ihmc.avatar.factory.AvatarSimulation

public LocalObjectCommunicator createSimulatedSensorsPacketCommunicator()
{
 scsSensorOutputPacketCommunicator = new LocalObjectCommunicator();
 if (createSCSSimulatedSensors)
 {
   DRCRobotSensorInformation sensorInformation = robotModel.getSensorInformation();
   DRCRobotJointMap jointMap = robotModel.getJointMap();
   TimestampProvider timeStampProvider = avatarSimulation.getSimulatedRobotTimeProvider();
   HumanoidFloatingRootJointRobot robot = avatarSimulation.getHumanoidFloatingRootJointRobot();
   Graphics3DAdapter graphics3dAdapter = simulationConstructionSet.getGraphics3dAdapter();
   printIfDebug("Streaming SCS Video");
   DRCRobotCameraParameters cameraParameters = sensorInformation.getCameraParameters(0);
   if (cameraParameters != null)
   {
    String cameraName = cameraParameters.getSensorNameInSdf();
    int width = sdfRobot.getCameraMount(cameraName).getImageWidth();
    int height = sdfRobot.getCameraMount(cameraName).getImageHeight();
    CameraConfiguration cameraConfiguration = new CameraConfiguration(cameraName);
    cameraConfiguration.setCameraMount(cameraName);
    int framesPerSecond = 25;
    DRCRenderedSceneVideoHandler drcRenderedSceneVideoHandler = new DRCRenderedSceneVideoHandler(scsSensorOutputPacketCommunicator);
    simulationConstructionSet.startStreamingVideoData(cameraConfiguration, width, height, drcRenderedSceneVideoHandler, timeStampProvider, framesPerSecond);
   }
   for (DRCRobotLidarParameters lidarParams : sensorInformation.getLidarParameters())
   {
    DRCLidar.setupDRCRobotLidar(robot, graphics3dAdapter, scsSensorOutputPacketCommunicator, jointMap, lidarParams, timeStampProvider, true);
   }
 }
 return scsSensorOutputPacketCommunicator;
}

TimestampProvider timeStampProvider = avatarSimulation.getSimulatedRobotTimeProvider();
HumanoidFloatingRootJointRobot robot = avatarSimulation.getHumanoidFloatingRootJointRobot();
Graphics3DAdapter graphics3dAdapter = simulationConstructionSet.getGraphics3dAdapter();