def __init__(self, **kwargs):
""" Creates a new instance of GaitGenerator.
@@@param generalConfig:string
Relative path to the general configuration file within the Cadence/config directory.
@@@param gaitConfig:string
Relative path to the gait configuration file within the Cadence/config directory.
"""
self._configs = ConfigReader(
filenames={
'general':ArgsUtils.get('generalConfig', 'general/default.cfg', kwargs),
'gait':ArgsUtils.get('gaitConfig', 'gait/default.cfg', kwargs),
'skeleton':ArgsUtils.get('skeletonConfig', 'skeleton/default.cfg', kwargs)
},
overrides=ArgsUtils.get('overrides', None, kwargs)
)
self._cycles = int(self._configs.get(GaitConfigEnum.CYCLES, 1))
self._cycleOffset = 0.01*float(self._configs.get(GaitConfigEnum.CYCLE_OFFSET, 0.0))
self._steps = self._cycles*int(self._configs.get(GeneralConfigEnum.STEPS))
self._startTime = float(self._configs.get(GeneralConfigEnum.START_TIME))
self._stopTime = float(self._cycles)*float(self._configs.get(GeneralConfigEnum.STOP_TIME))
self._dutyFactorFore = 0.01*float(self._configs.get(GaitConfigEnum.DUTY_FACTOR_FORE, 50))
self._dutyFactorHind = 0.01*float(self._configs.get(GaitConfigEnum.DUTY_FACTOR_HIND, 50))
self._phase = 0.01*float(self._configs.get(GaitConfigEnum.PHASE))
self._leftHind = TargetData(
TargetsEnum.LEFT_HIND,
dutyFactor=self._dutyFactorHind
)
self._rightHind = TargetData(
TargetsEnum.RIGHT_HIND,
dutyFactor=self._dutyFactorHind,
phaseOffset=0.5
)
self._leftFore = TargetData(
TargetsEnum.LEFT_FORE,
dutyFactor=self._dutyFactorFore,
phaseOffset=self._phase
)
self._rightFore = TargetData(
TargetsEnum.RIGHT_FORE,
dutyFactor=self._dutyFactorFore,
phaseOffset=0.5 + self._phase
)
class GaitGenerator(object):
"""A class for..."""
#===================================================================================================
# C L A S S
#___________________________________________________________________________________________________ __init__
def __init__(self, **kwargs):
""" Creates a new instance of GaitGenerator.
@@@param generalConfig:string
Relative path to the general configuration file within the Cadence/config directory.
@@@param gaitConfig:string
Relative path to the gait configuration file within the Cadence/config directory.
"""
self._configs = ConfigReader(
filenames={
'general':ArgsUtils.get('generalConfig', 'general/default.cfg', kwargs),
'gait':ArgsUtils.get('gaitConfig', 'gait/default.cfg', kwargs),
'skeleton':ArgsUtils.get('skeletonConfig', 'skeleton/default.cfg', kwargs)
},
overrides=ArgsUtils.get('overrides', None, kwargs)
)
self._cycles = int(self._configs.get(GaitConfigEnum.CYCLES, 1))
self._cycleOffset = 0.01*float(self._configs.get(GaitConfigEnum.CYCLE_OFFSET, 0.0))
self._steps = self._cycles*int(self._configs.get(GeneralConfigEnum.STEPS))
self._startTime = float(self._configs.get(GeneralConfigEnum.START_TIME))
self._stopTime = float(self._cycles)*float(self._configs.get(GeneralConfigEnum.STOP_TIME))
self._dutyFactorFore = 0.01*float(self._configs.get(GaitConfigEnum.DUTY_FACTOR_FORE, 50))
self._dutyFactorHind = 0.01*float(self._configs.get(GaitConfigEnum.DUTY_FACTOR_HIND, 50))
self._phase = 0.01*float(self._configs.get(GaitConfigEnum.PHASE))
self._leftHind = TargetData(
TargetsEnum.LEFT_HIND,
dutyFactor=self._dutyFactorHind
)
self._rightHind = TargetData(
TargetsEnum.RIGHT_HIND,
dutyFactor=self._dutyFactorHind,
phaseOffset=0.5
)
self._leftFore = TargetData(
TargetsEnum.LEFT_FORE,
dutyFactor=self._dutyFactorFore,
phaseOffset=self._phase
)
self._rightFore = TargetData(
TargetsEnum.RIGHT_FORE,
dutyFactor=self._dutyFactorFore,
phaseOffset=0.5 + self._phase
)
#===================================================================================================
# G E T / S E T
#___________________________________________________________________________________________________ GS: cycles
@property
def cycles(self):
return self._cycles
#___________________________________________________________________________________________________ GS: cycleOffset
@property
def cycleOffset(self):
return self._cycleOffset
#___________________________________________________________________________________________________ GS: steps
@property
def steps(self):
return self._steps
#___________________________________________________________________________________________________ GS: startTime
@property
def startTime(self):
return self._startTime
#___________________________________________________________________________________________________ GS: stopTime
@property
def stopTime(self):
return self._stopTime
#___________________________________________________________________________________________________ GS: phase
@property
def phase(self):
return self._phase
#___________________________________________________________________________________________________ GS: configs
@property
def configs(self):
return self._configs
#___________________________________________________________________________________________________ GS: name
@property
def name(self):
return 'PH-%s_F-%s_H-%s' % (
str(int(100*self._phase)),
str(int(100*self._dutyFactorFore)),
str(int(100*self._dutyFactorHind))
)
#___________________________________________________________________________________________________ GS: dataFilename
@property
def dataFilename(self):
return self.__class__.__name__ + os.sep + self.name + CadenceData.EXTENSION
#===================================================================================================
# P U B L I C
#___________________________________________________________________________________________________ echo
def echo(self):
print '\n', 100*'=','GAIT GENERATION RESULTS:'
print 100*'-', 'LEFT HIND:'
print self._leftHind.echo()
print 100*'-', 'LEFT FORE:'
print self._leftFore.echo()
print 100*'-', 'RIGHT FORE:'
print self._rightFore.echo()
print 100*'-', 'RIGHT HIND:'
print self._rightHind.echo()
#___________________________________________________________________________________________________ toCadenceData
def toCadenceData(self):
cd = CadenceData(name=self.name, configs=self.configs)
cd.addChannels(self._leftHind.channels)
cd.addChannels(self._leftFore.channels)
cd.addChannels(self._rightHind.channels)
cd.addChannels(self._rightFore.channels)
return cd
#___________________________________________________________________________________________________ saveToFile
def saveToFile(self, filename =None):
cd = self.toCadenceData()
cd.write(self.__class__.__name__, name=filename if filename else self.name)
return True
#___________________________________________________________________________________________________ run
def run(self):
"""Doc..."""
if not self._generateGaitPhases():
return False
if not self._generatePositions():
return False
return True
#___________________________________________________________________________________________________ _generateGaitPhases
def _generateGaitPhases(self):
self._leftHind.createGaitPhaseChannel(self)
self._leftFore.createGaitPhaseChannel(self)
self._rightHind.createGaitPhaseChannel(self)
self._rightFore.createGaitPhaseChannel(self)
return True
#___________________________________________________________________________________________________ _generatePositions
def _generatePositions(self):
self._leftHind.createPositionChannel(self)
self._leftFore.createPositionChannel(self)
self._rightHind.createPositionChannel(self)
self._rightFore.createPositionChannel(self)
return True
