Coverage for /home/travis/build/RobotLocomotion/director/build/src/director-build/lib/python2.7/dist-packages/director/ikparameters : 0%

from copy import deepcopy 

from director.fieldcontainer import FieldContainer 

class IkParameters(FieldContainer): 

    def __init__(self, **kwargs): 

        self._add_fields( 

            usePointwise = None, 

            useCollision = None, 

            majorIterationsLimit = None, 

            majorOptimalityTolerance = None, 

            majorFeasibilityTolerance = None, 

            maxDegreesPerSecond = None, 

            maxBaseMetersPerSecond = None, 

            maxBaseRPYDegreesPerSecond = None, 

            maxBackDegreesPerSecond = None, 

            accelerationParam = None, 

            accelerationFraction = None, 

            maxPlanDuration = None, 

            fixInitialState = None, 

            numberOfAddedKnots = None, 

            numberOfInterpolatedCollisionChecks = None, 

            collisionMinDistance = None, 

            rrtMaxEdgeLength = None, 

            rrtGoalBias = None, 

            rrtHand = None, 

            rrtMaxNumVertices = None, 

            rrtNSmoothingPasses = None, 

            maxBodyTranslationSpeed = None, 

            maxBodyRotationSpeed = None, 

            rescaleBodyNames = None, 

            rescaleBodyPts = None, 

            quasiStaticShrinkFactor = None 

        ) 

        FieldContainer.__init__(self, **kwargs) 

    def setToDefaults(self): 

        self.usePointwise = True 

        self.useCollision = 'none' 

        self.majorIterationsLimit = 500 

        self.majorOptimalityTolerance = 1e-4 

        self.majorFeasibilityTolerance = 1e-6 

        self.maxDegreesPerSecond = 30.0 

        self.maxBackDegreesPerSecond = 10.0 

        self.maxBaseMetersPerSecond = 0.05 

        self.maxBaseRPYDegreesPerSecond = 2 

        self.maxBodyTranslationSpeed = 0.50 

        self.maxBodyRotationSpeed = 10 

        self.rescaleBodyNames = [] 

        self.rescaleBodyPts = [] 

        self.accelerationParam = 2 

        self.accelerationFraction = 0.3 

        self.maxPlanDuration = 30.0 

        self.fixInitialState = True 

        self.numberOfAddedKnots = 0 

        self.numberOfInterpolatedCollisionChecks = 2 

        self.collisionMinDistance = 0.03 

        self.rrtMaxEdgeLength = 0.05 

        self.rrtGoalBias = 1.0 

        self.rrtHand = 'left' 

        self.rrtMaxNumVertices = 5000 

        self.rrtNSmoothingPasses = 10 

        self.quasiStaticShrinkFactor = 0.2 

    def fillInWith(self, other): 

        for field, value in self: 

            if value is None: 

                setattr(self, field, deepcopy(getattr(other, field)))