Lpzrobots
jerry173985
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modelling a robot with lpzrobots
In creation of a hexapod:// create body double twidth = conf.size * conf.width ;// 1/1.5; double theight = conf.size * conf.height; // 1/4; trunk = new Box(conf.size, twidth, theight); // trunk = new Capsule(twidth,conf.size); trunk-&g原创 2021-06-17 17:06:31 · 68 阅读 · 0 评论 -
Makefile C++ for MacOS
CC = clang++BIN = rnnOBJS = rnn.o main.oRM = rm -rvfCXXFLAGS += -std=c++14 -Wall -v -g -I /usr/local/include/eigen3 all: $(BIN)$(BIN): $(OBJS) $(CC) $(CXXFLAGS) $(OBJS) -o $(BIN)clean: $(RM) $(OBJS) $(BIN)原创 2021-05-21 09:53:35 · 186 阅读 · 0 评论 -
Dynamically change the controller within operation
case 'w' : controller->increaseW(-1); std::cout << "new w_0: "<<controller->getParam("w_0") << std::endl; break; void increaseW( double size ){ w_0 += size; };also, notic原创 2021-05-14 21:45:30 · 51 阅读 · 0 评论 -
ros_connection to lpzrobots
roscore take too long to load in:check ROS_IP and ROS_hostnamemaybe not the same network IP as stated above in ~/.bashrc fileIn order to compile C++ with ros you have to add LIB (libraries in /opt/ros/kinetic/lib) and INC (include paths in /opt/ros/kine原创 2021-05-08 10:30:33 · 66 阅读 · 0 评论 -
DevLog 2 Deep Into the eigenvectors and eigenvalues for R Matrix
R matrix is the matrix from x_t to prediction x_t+1: R = A*C +S which has the dimension of (sensor_numbers, sensor_nukmbers)Statistics:In file:A: Layer2_time1109B: Layer2_time1110C:Layer3_time1107D:Layer3_time1106A = np.array([ [1.131289, 0.2404原创 2021-01-24 01:07:22 · 162 阅读 · 0 评论 -
Add Speed and RelativePosition Sensors for robot in Lpzrobot
robot->addSensor(std::make_shared<SpeedSensor>(1,SpeedSensor::Translational,SpeedSensor::XYZ), Attachment(-1));robot->addSensor(std::make_shared<RelativePositionSensor>(1,1,RelativePositionSensor::XY), Attachment(0));原创 2021-01-19 09:02:08 · 101 阅读 · 1 评论 -
Dockerfile and X11 XQuartz 2.7.8 on Mac
Use XQuartz version: XQuartz 2.7.8, else it may have libGL error!set XQuartz preferences --> Security --> Tick all connectionsin /etc/ssh/sshd_configset x11forwardingto yes (there are two x11forwarding, all set from no to yes)The scripts used to.原创 2021-01-05 01:29:10 · 294 阅读 · 0 评论 -
DevLog1: Saturation Prob solved with Better Results!
Saturation Problem solved with Better Results!In the original diamond controller code, the update parameter resulted by the tle error is set to default 1.0:My change of code is:'gradient'.map(g).mapP(0.1,clip)using EE = .1/(v.norm_sqr() + .001); (c原创 2021-01-01 23:49:04 · 196 阅读 · 0 评论 -
Matrix Basics in Lpzrobot
/* compile this with g++ -Wall -lm -L. -lselforg -o example matrixexample.cpp or use the Makefile*/#include <iostream>#include <math.h>#include <selforg/matrix.h>using namespace matrix;using namespace std;int main(){ /////////.原创 2020-12-22 20:14:42 · 110 阅读 · 1 评论 -
Trail
/** track options */ TrackRobot* TrackOpt = new TrackRobot(false,false,false, track_rob); TrackOpt->conf.displayTraceDur = 2000; TrackOpt->conf.displayTraceThickness = 0.01; // 0.01 or 0. agent->setTrackOptions( *TrackOpt )原创 2020-12-19 00:47:45 · 93 阅读 · 1 评论 -
Lpzrobot stats bar chat plot
#full codeimport numpy as npall_means=[]all_stds=[]for i in range(1,6): stat = np.loadtxt(str(i)+'.txt',skiprows=1) print('Layer',i) means =[] stds=[] for j in range(5): cover = stat[100*j:100*(j+1),-1] steps = stat.原创 2020-11-17 06:54:43 · 195 阅读 · 0 评论 -
ubuntu 20 install qt4
http://ubuntuhandbook.org/index.php/2020/07/install-qt4-ubuntu-20-04/原创 2020-09-26 20:55:15 · 668 阅读 · 0 评论 -
Thoughts with two layers
1. try different landscapetaller hills : to get up to taller hills, one need to have momentum by first go into the lower hills and use inertia–> advanced thinking, need more levels of layertry plot grid on with each bin, notice how frequent the robot原创 2020-08-14 23:08:32 · 117 阅读 · 0 评论