def __init__(self, geneticMaterial):
DTIndividualGeneticMaterial.__init__(self)
lp = LoadPoses(geneticMaterial)
robotConfig = LoadRobotConfiguration()
poseSize = lp.getFrameQty()
self.geneticMatrix = [[lp.getPose(i).getValue(j) for j in robotConfig.getJointsName()] for i in
xrange(poseSize)]
def __init__(self, geneticMaterial):
DTIndividualGeneticMaterial.__init__(self)
lp = LoadPoses(geneticMaterial)
cycleSize = lp.getFrameQty()
CYCLE_REPETITION = self.cyclesQty
print "cicleSize: ", cycleSize
self.geneticMatrix = [[lp.getPose(i).getValue(j) for j in self.robotConfig.getJointsName()] for i in
xrange(cycleSize)] * CYCLE_REPETITION
#for debugging info:
#self.calculateGapByInterpolation(REFERENCE_WINDOW_RADIUS, INTERPOLATION_WINDOW, SPLINE_SMOOTHING_FACTOR, cycleSize, CYCLE_REPETITION, True)
self.calculateGapByCubicInterpolation(REFERENCE_WINDOW_RADIUS, INTERPOLATION_WINDOW, SPLINE_SMOOTHING_FACTOR, cycleSize, CYCLE_REPETITION)