r(q_init) #r.solveAndDisplay("rm",1,0.01) #t = ps.solve () from hpp.gepetto import PathPlayer pp = PathPlayer(rbprmBuilder.client.basic, r) pp.dt = 0.03 pp.displayVelocityPath(0) r.client.gui.setVisibility("path_0_root", "ALWAYS_ON_TOP") import parse_bench parse_bench.parseBenchmark(t) print "path lenght = ", str(ps.client.problem.pathLength(ps.numberPaths() - 1)) """ if isinstance(t, list): t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3] f = open('log.txt', 'a') f.write("path computation " + str(t) + "\n") f.close() """ """ for i in range(0,9): t = ps.solve() if isinstance(t, list): ts = t[0]* 3600. + t[1] * 60. + t[2] + t[3]/1000. f= open("/local/dev_hpp/logs/benchHrp2_slope_LP.txt","a") f.write("t = "+str(ts) + "\n") f.write("path_length = "+str(ps.client.problem.pathLength(i)) + "\n")
""" t = ps.solve() #r.displayRoadmap('rm',radiusSphere=0.01) #r.displayPathMap("pm",0) #tf=r.solveAndDisplay("rm",1,0.01) #t = [0,0,tf,0] #r.client.gui.removeFromGroup("rm_group",r.sceneName) # Playing the computed path from hpp.gepetto import PathPlayer pp = PathPlayer(rbprmBuilder.client.basic, r) pp.dt = 0.03 pp.displayVelocityPath(ps.numberPaths() - 1) #r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP") #display path pp.speed = 0.5 #pp (0) import parse_bench parse_bench.parseBenchmark(t) print "path lenght = ", str(ps.client.problem.pathLength(ps.numberPaths() - 1)) ########################### #display path with post-optimisation """ print("Press Enter to display the optimization ...") raw_input()
-9.560577392578125, 10.504343032836914, 0.9323806762695312, 0.36073973774909973, 0.008668755181133747, 0.02139890193939209] r.client.gui.setCameraTransform(0,camera) """ q = [ 1.0220000000000002, -0.01, 0.6955999999999999, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, -0.17000000000000023, 0.0, 0.0, 0.0 ] # BUG # Playing the computed path pi = ps.numberPaths() - 1 from hpp.gepetto import PathPlayer pp = PathPlayer(rbprmBuilder.client.basic, r) pp.dt = 0.03 pp.displayVelocityPath(pi) r.client.gui.setVisibility("path_" + str(pi) + "_root", "ALWAYS_ON_TOP") #display path pp.speed = 1 #pp (pi) """ import parse_bench parse_bench.parseBenchmark(t) """ print("path lenght = ", str(ps.client.problem.pathLength(ps.numberPaths() - 1)))
0.008668755181133747, 0.02139890193939209] r.client.gui.setCameraTransform(0,camera) """ t = ps.solve() #r.displayRoadmap('rm',radiusSphere=0.01) #r.displayPathMap("pm",0) #tf=r.solveAndDisplay("rm",1,0.01) #t = [0,0,tf,0] #r.client.gui.removeFromGroup("rm_group",r.sceneName) # Playing the computed path pi = ps.numberPaths() - 1 from hpp.gepetto import PathPlayer pp = PathPlayer(rbprmBuilder.client.basic, r) pp.dt = 0.03 pp.displayVelocityPath(pi) r.client.gui.setVisibility("path_" + str(pi) + "_root", "ALWAYS_ON_TOP") #display path pp.speed = 1 #pp (0) import parse_bench parse_bench.parseBenchmark(t) ########################### #display path with post-optimisation