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()
