def quickCheckStepEfficiency(m,p,rtinit,rcinit,ltinit,lcinit,debugPrint=False):
#Do we need to do anything other than run the build and check the distanes here? I don't think so.
#STEP 1: Run initial position
#STEP 2: Check criteria
#STEP 3: RUN final position
#STEP 4: Check criteia
#STEP 5: Compute efficency and results
if rtinit == ltinit and rcinit == lcinit:
if debugPrint:
print "The leg positions are the same. This configuration is not consdered."
return 'NULL'
m.moveAllActuators(rtinit,rcinit,ltinit,lcinit)
m.computeLocations()
if debugPrint:
disp=structureDisplay()
disp.displayLines(m.struct.getLinesList())
foo = raw_input("Press enter to exit")
if not checkCriteria(m,p,debugPrint=debugPrint):
return 'NULL'
actuatorDisplacement = m.moveAllActuators(ltinit,lcinit,rtinit,rcinit)
m.computeLocations()
if not checkCriteria(m,p):
return 'NULL'
moveDistance = math.fabs(m.getFootReferencePoint('l').x - m.getFootReferencePoint('r').x)
minHeight = m.getCockpitReferencePoint().y - m.getFootReferencePoint('r').y
resDict = {}
resDict['moveDistance'] = moveDistance
resDict['actuatorDisplacement'] = actuatorDisplacement
resDict['efficency'] = moveDistance/actuatorDisplacement
resDict['minHeight'] = minHeight
resDict['vars'] = [rtinit,rcinit,ltinit,lcinit]
return [resDict['efficency'],resDict]
def displayMech_basic(result): m = mech() rtinit = result[1]['vars'][0] rcinit = result[1]['vars'][1] ltinit = result[1]['vars'][2] lcinit = result[1]['vars'][3] m.moveAllActuators(rtinit,rcinit,ltinit,lcinit) m.computeLocations() disp=structureDisplay() disp.displayLines_animate(m.struct)
def displayMech_walking(result):
m = mech()
rtinit = result[1]['vars'][0]
rcinit = result[1]['vars'][1]
ltinit = result[1]['vars'][2]
lcinit = result[1]['vars'][3]
lc1 = result[1]['vars'][4]
rt2 = result[1]['vars'][5]
rc3 = result[1]['vars'][6]
lt4 = result[1]['vars'][7]
lc6 = result[1]['vars'][8]
lta = m.leftThighActuator
rta = m.rightThighActuator
lca = m.leftCalfActuator
rca = m.rightCalfActuator
#m.moveAllActuators(result[1]['vars'][0],result[1]['vars'][1],result[1]['vars'][2],result[1]['vars'][3])
#m.computeLocations()
disp=structureDisplay()
commands = []
commands.append([lta,ltinit,0])
commands.append([rta,rtinit,0])
commands.append([lca,lcinit,0])
commands.append([rca,rcinit,0])
commands.append([lca,lc1,10])
commands.append([rta,rt2,10])
commands.append([rca,rc3,10])
commands.append([lta,lt4,10])
commands.append([lta,rtinit,10])
commands.append([lca,lc6,10])
commands.append([lca,rcinit,10])
commands.append([rca,lcinit,10])
commands.append([rta,ltinit,10])
#New step
commands.append([rca,lc1,10])
commands.append([lta,rt2,10])
commands.append([lca,rc3,10])
commands.append([rta,lt4,10])
commands.append([rta,rtinit,10])
commands.append([rca,lc6,10])
commands.append([rca,rcinit,10])
commands.append([lca,lcinit,10])
commands.append([lta,ltinit,10])
disp.displayLines_sequence(m.struct,commands,save=True)
#disp.displayLines_animate(m.struct.getLinesList())
foo = raw_input("Press enter to exit")
p = False if p: print "Passed tests" if __name__ == '__main__': import sys if(len(sys.argv) > 1): ar = sys.argv[1] if(ar == '-t'): test_software() sys.exit() elif(ar == '-ts'): test_software(short=True) sys.exit() elif(ar == '-td'): disp = structureDisplay() structure = test_structureSeed_pyramid() structure.computeLocations() disp.displayLines_animate(structure,save=False) #disp.displayLines(structure.getLinesList()) elif(ar == '-rs'): #RUN SIMULATION findOptimumMechWalk() elif(ar == '-rf'): m = mech(part='foot') m.computeLocations() ma = m.struct.getCenterOfMass() print ma.toString() disp = structureDisplay() disp.displayLines_animate(m.struct,save=False) elif(ar == '-rl'): m = mech(part='leg')