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)
from simulator.SimLucy import SimLucy
from simulator.AXAngle import AXAngle
from parser.LoadPoses import LoadPoses
import math
import os
import time
print 'Program started'
angle = AXAngle()
angleFix = AXAngle()
angleExecute = AXAngle()
mocapFile = os.getcwd()+"/mocap/cmu_mocap/xml/moon_walk.xml"
lp = LoadPoses(mocapFile)
lucy = SimLucy(True)
poseExecute={}
poseFix={}
poseFix["R_Shoulder_Yaw"] = 0
poseFix["R_Shoulder_Pitch"] = -45
poseFix["R_Hip_Yaw"] = 0
poseFix["R_Hip_Roll"] = 0
poseFix["R_Hip_Pitch"] = -70
poseFix["R_Knee"] = 0
poseFix["R_Ankle_Pitch"] = 9
poseFix["R_Elbow_Yaw"] = 0
poseFix["R_Ankle_Roll"] = 0