def test_manipulate():
x_draw_range = (-2, 2)
y_draw_range = (-2, 2)
plot = ymp.SmartPlot()
plot.setXlimit(x_draw_range[0], x_draw_range[1])
plot.setYlimit(y_draw_range[0], y_draw_range[1])
X = pe.frange(x_draw_range[0], x_draw_range[1], .01)
plot.setXdata('frames', X)
# x_range = (0,1); y_range = (0,1)
# plot.addYdata('translate', map(translate(sine, .1, .1), X))
# plot.addYdata('domain', map(domain(sine, [.2, .7]), X))
# plot.addYdata('translate * domain', map(translate(domain(sine, [.0, .5]), .1, .1), X))
x_range = (0, 1)
y_range = (0, 1)
plot.addYdata(
'concatenate',
map(concatenate([zero, hermite2nd, one], [1 / 3., 2 / 3.]), X))
# x_range = (0,2); y_range = (0,.5)
# plot.addYdata('scale', map(scale(sine, x_range, y_range), X))
## plot.addYdata('domain', map(domain(sine, x_range), X))
# x_range = (0,1); y_range = (0,1)
# plot.addYdata('hermite2nd', map(hermite2nd, X))
# plot.addYdata('mirror', map(mirror(hermite2nd, .5, .0), X))
# plot.addYdata('mirror2', map(mirror(hermite2nd, None, .0), X))
# plot.addYdata('mirror3', map(mirror(hermite2nd, .5, None), X))
plot.addXspans('x_range', [x_range])
plot.addYspans('y_range', [y_range])
plot.show()
def test_getBipedGaitStates():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
hRef = .1; vRef = .3
lc = yma.getElementContactStates(motion, motion[0].skeleton.getElementIndex('LeftFoot'), hRef, vRef)
rc = yma.getElementContactStates(motion, motion[0].skeleton.getElementIndex('RightFoot'), hRef, vRef)
rawStateList = getBipedGaitStates(lc, rc)
cookedStateList = getBipedGaitStates(lc, rc, 10, 1.)
intervals, types = yma.states2intervals(cookedStateList)
for i in range(len(intervals)):
print(intervals[i], GaitState.text[types[i]])
print()
print([yma.intIntervalUp(int) for int in intervals])
print(getWalkingSteps(lc, rc, True))
print(getBipedGaitIntervals(lc, rc, 10, 1.))
plot = ymp.SmartPlot()
plot.setXdata('frame', range(len(motion)))
plot.addYdata('rawState', rawStateList)
plot.addYdata('cookedState', cookedStateList)
plot.showModeless()
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('motion', yr.JointMotionRenderer(motion, (0,0,255), yr.LINK_LINE))
viewer.doc.addObject('motion', motion)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_graph_functions():
x_draw_range = (0, 1)
y_draw_range = (0, 1)
plot = ymp.SmartPlot()
plot.setXlimit(x_draw_range[0], x_draw_range[1])
plot.setYlimit(y_draw_range[0], y_draw_range[1])
X = pe.frange(x_draw_range[0], x_draw_range[1], .01)
plot.setXdata('frames', X)
plot.addYdata('identity', map(identity, X))
plot.addYdata('hermite2nd', map(hermite2nd, X))
plot.addYdata('halfsine', map(halfsine, X))
plot.addYdata('halfsineextended2',
map(concatenate([zero, halfsine, one], [.25, .75]), X))
plot.addYdata('sine', map(sine, X))
plot.addYdata('zero', map(zero, X))
plot.addYdata('H1', map(H1, X))
plot.addYdata('H2', map(H2, X))
plot.addYdata('H3', map(H3, X))
plot.show()
endSeg = len(intervals)-2
mean_CM_vel = sum(CM_vels[startSeg:endSeg+1]) / (endSeg - startSeg + 1)
mean_stepLength = sum(stepLengths[startSeg:endSeg+1]) / (endSeg - startSeg + 1)
mean_stepDuration = sum(stepDurations[startSeg:endSeg+1]) / (endSeg - startSeg + 1)
print('mean (%dth~%dth) %10.2f %10.2f %10.2f'%(startSeg, endSeg, mean_CM_vel, mean_stepLength, mean_stepDuration))
print()
if VISUALIZE:
#===============================================================================
# plotting
#===============================================================================
rawStates = yba.getBipedGaitStates(lc, rc)
refinedStates = yba.getBipedGaitStates(lc, rc, jumpThreshold, jumpBias, stopThreshold, stopBias)
plot = ymp.SmartPlot()
plot.setXdata('frame', list(range(len(motion))))
plot.addYdata('rawStates', rawStates)
plot.addYdata('refinedStates', refinedStates)
plot.showModeless()
#===============================================================================
# viewer
#===============================================================================
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('ys_motion', yr.JointMotionRenderer(motion, (0,100,255), yr.LINK_LINE))
viewer.doc.addObject('ys_motion', motion)
# viewer.doc.addRenderer('motionModel', cvr.VpModelRenderer(motionModel, (0,100,255), yr.POLYGON_LINE))
def postFrameCallback_Always(frame):
