public void ConsumeParams(List <float> p_params)
{
for (int i = 0; i < m_legFrames.Length; i++)
{
m_legFrames[i].ConsumeParams(p_params); // consume
}
m_player.ConsumeParams(p_params);
if (m_optimizePDs)
{
for (int i = 1; i < (m_desiredJointTorquesPD.Length + 1) / 2; i++)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_desiredJointTorquesPD[i].m_Kp);
m_desiredJointTorquesPD[i + 2].m_Kp = m_desiredJointTorquesPD[i].m_Kp;
OptimizableHelper.ConsumeParamsTo(p_params, ref m_desiredJointTorquesPD[i].m_Kd);
m_desiredJointTorquesPD[i + 2].m_Kd = m_desiredJointTorquesPD[i].m_Kd;
}
}
}
public void ConsumeParams(List <float> p_params)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneGaitPeriod);
}
public void ConsumeParams(List <float> p_params)
{
for (int i = 0; i < m_tuneStepCycles.Length; i++)
{
m_tuneStepCycles[i].ConsumeParams(p_params);
}
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneStepLength);
for (int i = 0; i < m_tuneOrientationLFTraj.Length; i++)
{
m_tuneOrientationLFTraj[i].ConsumeParams(p_params);
}
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneFootPlacementVelocityScale);
m_tuneStepHeightTraj.ConsumeParams(p_params);
m_tuneFootTransitionEase.ConsumeParams(p_params);
m_tuneLFHeightTraj.ConsumeParams(p_params);
m_tunePropGainFootTrackingKft.ConsumeParams(p_params);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneHeightForcePIDKp);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneHeightForcePIDKd);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneVelocityRegulatorKv);
for (int i = 0; i < c_legCount; i++)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneToeOffTime[i]);
}
for (int i = 0; i < c_legCount; i++)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneFootStrikeTime[i]);
}
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneToeOffAngle);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneFootStrikeAngle);
for (int i = 0; i < c_legCount; i++)
{
for (int p = 0; p < 2; p++)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_tuneFD[i, p]);
//Debug.Log("FD(" + i + "," + p + ")" + m_tuneFD[i, p]);
}
}
//for (int i = 0; i < m_legFgravityComp.Length; i++)
// OptimizableHelper.ConsumeParamsTo(p_params, ref m_legFgravityComp[i]);
if (m_optimizePDs)
{
OptimizableHelper.ConsumeParamsTo(p_params, ref m_desiredLFTorquePD.m_Kp);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_desiredLFTorquePD.m_Kd);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_heightForceCalc.m_Kp);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_heightForceCalc.m_Kd);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_FootTrackingSpringDamper.m_Kp);
OptimizableHelper.ConsumeParamsTo(p_params, ref m_FootTrackingSpringDamper.m_Kd);
}
}
// IOptimizable
public List <float> GetParams()
{
List <float> vals = new List <float>();
for (int i = 0; i < m_tuneStepCycles.Length; i++)
{
vals.AddRange(m_tuneStepCycles[i].GetParams());
}
vals.AddRange(OptimizableHelper.ExtractParamsListFrom(m_tuneStepLength));
for (int i = 0; i < m_tuneOrientationLFTraj.Length; i++)
{
vals.AddRange(m_tuneOrientationLFTraj[i].GetParams());
}
vals.Add(m_tuneFootPlacementVelocityScale);
vals.AddRange(m_tuneStepHeightTraj.GetParams());
vals.AddRange(m_tuneFootTransitionEase.GetParams());
vals.AddRange(m_tuneLFHeightTraj.GetParams());
vals.AddRange(m_tunePropGainFootTrackingKft.GetParams());
vals.Add(m_tuneHeightForcePIDKp);
vals.Add(m_tuneHeightForcePIDKd);
vals.Add(m_tuneVelocityRegulatorKv);
for (int i = 0; i < c_legCount; i++)
{
vals.Add(m_tuneToeOffTime[i]);
}
for (int i = 0; i < c_legCount; i++)
{
vals.Add(m_tuneFootStrikeTime[i]);
}
vals.Add(m_tuneToeOffAngle);
vals.Add(m_tuneFootStrikeAngle);
for (int i = 0; i < c_legCount; i++)
{
for (int p = 0; p < 2; p++)
{
vals.AddRange(OptimizableHelper.ExtractParamsListFrom(m_tuneFD[i, p]));
}
}
//for (int i = 0; i < m_legFgravityComp.Length; i++)
// vals.AddRange(OptimizableHelper.ExtractParamsListFrom(m_legFgravityComp[i]));
if (m_optimizePDs)
{
vals.Add(m_desiredLFTorquePD.m_Kp);
vals.Add(m_desiredLFTorquePD.m_Kd);
vals.Add(m_heightForceCalc.m_Kp);
vals.Add(m_heightForceCalc.m_Kd);
vals.Add(m_FootTrackingSpringDamper.m_Kp);
vals.Add(m_FootTrackingSpringDamper.m_Kd);
}
return(vals);
}
