def firstStep(indAnt, curve, vel, isFlat=True, ground=None):
"""Initialise the simulation
This function initialises the settings at the beginning of the simulation.
"""
speed = np.linalg.norm(vel)
curveStartPoint = up.getPosCurvePoint(curve, 0.01)
tan = up.getTanCurvePoint(curve, 0.01)
yAngle = up.getAngle(tan)
comTrajList = []
comTrajList.append(curveStartPoint)
triList = []
newTri = tr.createNewTriTemplate(curveStartPoint, True, yRot=yAngle)
newTri = tr.plotTri(newTri, isFlat=isFlat, ground=ground)
triList.append(newTri)
strideLen = tr.triangleSpeed(speed)
newTri = tr.createNewTriTemplate(curveStartPoint + strideLen/2*tan, False, yRot=yAngle)
newTri = tr.plotTri(newTri, isFlat=isFlat, ground=ground)
triList.append(newTri)
diffCOM = np.average(triList[1], 0) - np.average(triList[0], 0)
curTriRight = triList[1] - diffCOM
up.animateBodyLeg(indAnt, curveStartPoint, up.mergeTwoTripod(triList[0], curTriRight))
jointLTList = []
jointRTList = []
jointLT, jointRT = fe.solveJointAngles(curveStartPoint + [0, 0, -0.1], triList[0], triList[1], True)
jointLTList.append(jointLT)
jointRTList.append(jointRT)
return comTrajList, triList, jointLTList, jointRTList
def computePeriod(speed):
"""Compute the period, given the speed
"""
strideLen = tr.triangleSpeed(speed)
if speed == 0:
T = strideLen/0.001
else:
T = strideLen/speed
return T
def estimateNextTri(curTri, nextTri, speed):
"""Estimate the triangle vertices
arguments:
- curTri -- current triangle vertices. 3x1 numpy array
- nextTri -- next triangle vertices. 3x1 numpy array
- speed -- locomotion speed. scalar
return:
- estNextTri -- the estimated vertices for next triangle. 3x1 numpy array
"""
strideLen = tr.triangleSpeed(speed)
diffVec = np.average(nextTri, axis=0) - np.average(curTri, axis=0)
strideVec = diffVec/np.linalg.norm(diffVec)*strideLen
estNextTri = curTri + strideVec
return estNextTri
