us.ihmc.simulationconstructionset.SimulationConstructionSet.addStaticLinkGraphics()方法的使用及代码示例

x33g5p2x  于2022-01-30 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.SimulationConstructionSet.addStaticLinkGraphics()方法的一些代码示例，展示了SimulationConstructionSet.addStaticLinkGraphics()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。SimulationConstructionSet.addStaticLinkGraphics()方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.SimulationConstructionSet
类名称：SimulationConstructionSet
方法名：addStaticLinkGraphics

SimulationConstructionSet.addStaticLinkGraphics介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/robot-environment-awareness-application

@Override
  public void notifyOfVariableChange(YoVariable<?> v)
  {
   if (groundGraphicsNode != null)
     scs.removeGraphics3dNode(groundGraphicsNode);
   groundGraphicsNode = scs.addStaticLinkGraphics(environmentsGraphics.get(groundType.getEnumValue()));
  }
};

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit-test

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
  {
//      JaxbSDFLoader loader = new JaxbSDFLoader(new File("Models/unitBox.sdf"), "Models/");
//      Robot robot = loader.createRobot("unit_box_1");
   SDFWorldLoader loader = new SDFWorldLoader(new File("Models/unitBox.sdf"), "Models/");
   
   SimulationConstructionSet scs = new SimulationConstructionSet();
   scs.addStaticLinkGraphics(loader.createGraphics3dObject());
   
   
   Thread thread = new Thread(scs);
   thread.start();
  }
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public static Graphics3DNode drawNodeBoundingBoxes(QuadTreeForGroundHeightMap heightMap, SimulationConstructionSet scs, double heightToDrawAt)
{
 QuadTreeForGroundNode rootNode = heightMap.getRootNode();
 Graphics3DObject nodeBoundsGraphic = new Graphics3DObject();
 drawNodeBoundingBoxesRecursively(rootNode, nodeBoundsGraphic, 0, heightToDrawAt);
 Graphics3DNode graphics3DNodeHandle = scs.addStaticLinkGraphics(nodeBoundsGraphic);
 return graphics3DNodeHandle;
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public static Graphics3DNode drawNodeBoundingBoxes(QuadTreeForGroundHeightMap heightMap, SimulationConstructionSet scs, double heightToDrawAt)
{
 QuadTreeForGroundNode rootNode = heightMap.getRootNode();
 Graphics3DObject nodeBoundsGraphic = new Graphics3DObject();
 drawNodeBoundingBoxesRecursively(rootNode, nodeBoundsGraphic, 0, heightToDrawAt);
 Graphics3DNode graphics3DNodeHandle = scs.addStaticLinkGraphics(nodeBoundsGraphic);
 return graphics3DNodeHandle;
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

public void testSetupInEnvironment()
{
 // Not an actual test, could be given @Test(timeout=300000) for visual confirmation though
 SimulationConstructionSet scs = new SimulationConstructionSet();
 scs.addStaticLinkGraphics(inclinedTopFaceOctagon3d.getLinkGraphics());
 scs.setGroundVisible(false);
 scs.startOnAThread();
 while (true)
 {
   try
   {
    Thread.sleep(1000);
   }
   catch (InterruptedException e)
   {
   }
 }
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public void updateEnvironment(CommonAvatarEnvironmentInterface environment)
{
  setupEnvironmentAndListSimulatedRobots(simulatedRobot, environment);
  if (environment != null && environment.getTerrainObject3D() != null)
  {
   scs.addStaticLinkGraphics(environment.getTerrainObject3D().getLinkGraphics());
  }
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public static Graphics3DNode drawPoints(SimulationConstructionSet scs, ArrayList<Point3D> points, double resolution, AppearanceDefinition appearance)
{
 Graphics3DObject pointsInQuadTreeGraphic = new Graphics3DObject();
 for (Point3D point : points)
 {
   pointsInQuadTreeGraphic.identity();
   pointsInQuadTreeGraphic.translate(point);
   pointsInQuadTreeGraphic.addCube(resolution, resolution, resolution/4.0, appearance);
 }
 Graphics3DNode graphics3DNodeHandle = scs.addStaticLinkGraphics(pointsInQuadTreeGraphic);
 return graphics3DNodeHandle;
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public static Graphics3DNode drawPoints(SimulationConstructionSet scs, ArrayList<Point3d> points, double resolution, AppearanceDefinition appearance)
{
 Graphics3DObject pointsInQuadTreeGraphic = new Graphics3DObject();
 for (Point3d point : points)
 {
   pointsInQuadTreeGraphic.identity();
   pointsInQuadTreeGraphic.translate(point);
   pointsInQuadTreeGraphic.addCube(resolution, resolution, resolution/4.0, appearance);
 }
 Graphics3DNode graphics3DNodeHandle = scs.addStaticLinkGraphics(pointsInQuadTreeGraphic);
 return graphics3DNodeHandle;
}

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

public void addPlanarRegionsList(PlanarRegionsList planarRegions, AppearanceDefinition... appearances)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, planarRegions, appearances);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public static void main(String[] args)
{
 SimulationConstructionSet scs = new SimulationConstructionSet();
 scs.setGroundVisible(false);
 scs.addStaticLinkGraphics(new CinderBlockFieldPlanarRegionEnvironment().getTerrainObject3D().getLinkGraphics());
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

public void addPolygon(RigidBodyTransform transform, ConvexPolygon2D polygon, AppearanceDefinition appearance)
{
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 graphics3DObject.transform(transform);
 graphics3DObject.addPolygon(polygon, appearance);
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setTime(scs.getTime() + 1.0);
 scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public void updateEnvironment(CommonAvatarEnvironmentInterface commonAvatarEnvironment)
{
 if (commonAvatarEnvironment != null && commonAvatarEnvironment.getEnvironmentRobots() != null)
 {
   commonAvatarEnvironment.addContactPoints(humanoidFloatingRootJointRobot.getAllGroundContactPoints());
   commonAvatarEnvironment.createAndSetContactControllerToARobot();
 }
 if (commonAvatarEnvironment != null && commonAvatarEnvironment.getTerrainObject3D() != null)
 {
   simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.getTerrainObject3D().getLinkGraphics());
 }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public void updateEnvironment(CommonAvatarEnvironmentInterface commonAvatarEnvironment)
{
 if (commonAvatarEnvironment != null && commonAvatarEnvironment.getEnvironmentRobots() != null)
 {
   commonAvatarEnvironment.addContactPoints(humanoidFloatingRootJointRobot.getAllGroundContactPoints());
   commonAvatarEnvironment.createAndSetContactControllerToARobot();
 }
 if (commonAvatarEnvironment != null && commonAvatarEnvironment.getTerrainObject3D() != null)
 {
   simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.getTerrainObject3D().getLinkGraphics());
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public static void addCube(double cubeX, double cubeY, double cubeSize, Color color, SimulationConstructionSet scs)
{
 final double CUBE_HEIGHT = 0.001;
 // Make cubes a tiny bit smaller so they don't blend together.
 cubeSize *= 0.9;
 
 
 Graphics3DObject linkGraphics = new Graphics3DObject();
 linkGraphics.translate(new Vector3D(cubeX, cubeY ,CUBE_HEIGHT));
 linkGraphics.addCube(cubeSize, cubeSize, cubeSize, new YoAppearanceRGBColor(new MutableColor(color), 0.0));
 
 scs.addStaticLinkGraphics(linkGraphics);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void vidualizeCorruptedFootsteps(FootstepDataListMessage corruptedFootstepDataList, SimulationConstructionSet scs)
{
 if (!VISUALIZE)
   return;
 List<FootstepDataMessage> dataList = corruptedFootstepDataList.getFootstepDataList();
 for (int i = 0; i < dataList.size(); i++)
 {
   FootstepDataMessage footstepData = dataList.get(i);
   Graphics3DObject staticLinkGraphics = new Graphics3DObject();
   staticLinkGraphics.translate(new Vector3D(footstepData.getLocation()));
   RotationMatrix rotationMatrix = new RotationMatrix();
   rotationMatrix.set(footstepData.getOrientation());
   staticLinkGraphics.rotate(rotationMatrix);
   staticLinkGraphics.addCoordinateSystem(0.15, YoAppearance.Red());
   scs.addStaticLinkGraphics(staticLinkGraphics);
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public static void main(String[] args)
  {
   SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("robot"));
   scs.addStaticLinkGraphics(new TwoBollardEnvironment(0.75).getTerrainObject3D().getLinkGraphics());
   scs.setGroundVisible(false);
   scs.startOnAThread();
  }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

private void initialize()
{
 sphereVoxelShape = new SphereVoxelShape(gridFrame, voxelSize, numberOfRays, numberOfRotationsAroundRay, SphereVoxelType.graspOrigin);
 voxel3dGrid = new Voxel3DGrid(gridFrame, sphereVoxelShape, gridSizeInNumberOfVoxels, voxelSize);
 if (reachabilityMapFileWriter != null)
   reachabilityMapFileWriter.initialize(solver.getRobotArmJoints(), voxel3dGrid);
 gridFrameViz.update();
 scs.addStaticLinkGraphics(ReachabilityMapTools.createBoundingBoxGraphics(voxel3dGrid.getMinPoint(), voxel3dGrid.getMaxPoint()));
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public void addPoints(List<Point3D> points)
{
 if(!disableGraphics)
 {
   for(Point3D point : points)
   {
    Graphics3DObject testCubeGraphicObject = new Graphics3DObject();
    testCubeGraphicObject.addCube(VOXEL_SIZE, VOXEL_SIZE, VOXEL_SIZE, YoAppearance.Aqua());
    Graphics3DNode cubeNode = scs.addStaticLinkGraphics(testCubeGraphicObject, Graphics3DNodeType.VISUALIZATION);
    cubeNode.translate(point.getX(), point.getY(), point.getZ());
    if(rootNode == null)
      rootNode = cubeNode;
    else
      rootNode.addChild(cubeNode);
   }
 }
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void startSCS()
{
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setPlaybackRealTimeRate(0.025);
 Graphics3DObject linkGraphics = new Graphics3DObject();
 linkGraphics.addCoordinateSystem(0.3);
 scs.addStaticLinkGraphics(linkGraphics);
 scs.setCameraFix(0.0, 0.0, 0.5);
 scs.setCameraPosition(-0.5, 0.0, 1.0);
 SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory();
 simulationOverheadPlotterFactory.addYoGraphicsListRegistries(graphicsListRegistry);
 simulationOverheadPlotterFactory.createOverheadPlotter();
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public ReachabilitySphereMapCalculator(OneDoFJointBasics[] robotArmJoints, SimulationConstructionSet scs)
{
 this.scs = scs;
 solver = new ReachabilityMapSolver(robotArmJoints, null, registry);
 FramePose3D gridFramePose = new FramePose3D(ReferenceFrame.getWorldFrame(), robotArmJoints[0].getFrameBeforeJoint().getTransformToWorldFrame());
 gridFramePose.appendTranslation(getGridSizeInMeters() / 2.5, 0.0, 0.0);
 setGridFramePose(gridFramePose);
 scs.addStaticLinkGraphics(ReachabilityMapTools.createReachibilityColorScale());
 scs.addYoGraphic(gridFrameViz);
 scs.addYoGraphic(currentEvaluationPose);
 scs.addYoGraphic(currentEvaluationPosition);
 scs.addYoVariableRegistry(registry);
}

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