from ddapp.consoleapp import ConsoleApp from ddapp import lcmspy from ddapp import lcmUtils from ddapp import simpletimer as st app = ConsoleApp() app.setupGlobals(globals()) if app.getTestingInteractiveEnabled(): app.showPythonConsole() lcmspy.findLCMModulesInSysPath() timer = st.SimpleTimer() stats = {} channelToMsg = {} items = {} def item(r, c): rowDict = items.setdefault(r, {}) try: return rowDict[c] except KeyError: i = QtGui.QTableWidgetItem('') table.setItem(r, c, i) rowDict[c] = i return i
blocks,groundPlane = cwdemo.extractBlocksFromSurfaces(clusters, standingFootFrame) footsteps = cwdemo.placeStepsOnBlocks(blocks, groundPlane, standingFootName, standingFootFrame) cwdemo.drawFittedSteps(footsteps) # cwdemo.sendPlanningRequest(footsteps) #navigationPanel = navigationpanel.init(robotStateJointController, footstepsDriver) navigationPanel = None continuouswalkingDemo = continuouswalkingdemo.ContinousWalkingDemo(robotStateModel, footstepsPanel, robotStateJointController, ikPlanner, teleopJointController, navigationPanel, cameraview) cwdemo = continuouswalkingDemo # test 1 processSingleBlock(robotStateModel, 1) # test 2 - Table: processSingleBlock(robotStateModel, 0) # test 3 processSnippet() # test 4 continuouswalkingDemo.processContinuousStereo = True processSnippet() if app.getTestingInteractiveEnabled(): view.show() app.showObjectModel() app.start()