us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry类的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry类的一些代码示例，展示了YoGraphicsListRegistry类的具体用法。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。YoGraphicsListRegistry类的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry
类名称：YoGraphicsListRegistry

YoGraphicsListRegistry介绍

暂无

代码示例

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

/**
* This is where the end-effectors needing a visualization are registered, if you need more, add
* it there.
* 
* @param rigidBodies all the rigid bodies for which the desired and actual pose will be
*           displayed using graphical coordinate systems.
*/
public void setupVisualization(RigidBodyBasics... rigidBodies)
{
 AppearanceDefinition desiredAppearance = YoAppearance.Red();
 AppearanceDefinition currentAppearance = YoAppearance.Blue();
 for (RigidBodyBasics rigidBody : rigidBodies)
 {
   YoGraphicCoordinateSystem desiredCoodinateSystem = createCoodinateSystem(rigidBody, Type.DESIRED, desiredAppearance);
   YoGraphicCoordinateSystem currentCoodinateSystem = createCoodinateSystem(rigidBody, Type.CURRENT, currentAppearance);
   desiredCoodinateSystems.put(rigidBody, desiredCoodinateSystem);
   currentCoodinateSystems.put(rigidBody, currentCoodinateSystem);
   yoGraphicsListRegistry.registerYoGraphic("CoordinateSystems", desiredCoodinateSystem);
   yoGraphicsListRegistry.registerYoGraphic("CoordinateSystems", currentCoodinateSystem);
 }
}

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

private YoGraphicsListRegistry createYoGraphicsListRegistryWithObject()
{
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoGraphicsList yoGraphicsList = new YoGraphicsList(yoGraphicsListName);
 yoGraphicsList.add(yoGraphic);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 return yoGraphicsListRegistry;
}

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

private void createGraphicsAndArtifacts(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 yoGraphicsListRegistry.registerYoGraphic("Frames", leftMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("Frames", rightMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("target", targetViz);
 yoGraphicsListRegistry.registerArtifact("target", targetViz.createArtifact());
 yoGraphicsListRegistry.registerArtifact("centroidViz", centroidViz.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic("nominalYaw", nominalYawGraphic);
 YoArtifactPolygon supportPolygonArtifact = new YoArtifactPolygon("quadSupportPolygonArtifact", supportPolygon, Color.blue, false);
 YoArtifactPolygon currentTriplePolygonArtifact = new YoArtifactPolygon("currentTriplePolygonArtifact", currentTriplePolygon, Color.GREEN, false);
 yoGraphicsListRegistry.registerArtifact("nominalYawArtifact", nominalYawArtifact);
 yoGraphicsListRegistry.registerArtifact("supportPolygon", supportPolygonArtifact);
 yoGraphicsListRegistry.registerArtifact("currentTriplePolygon", currentTriplePolygonArtifact);
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
}

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

private void setupYoRegistries()
{
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
 yoGraphicsListRegistryForDetachedOverhead = new YoGraphicsListRegistry();
}

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

private void initializeCollisionManager()
{
 if (useShapeCollision)
 {
   double coefficientOfRestitution = 0.0;
   double coefficientOfFriction = 0.9;
   HybridImpulseSpringDamperCollisionHandler collisionHandler = new HybridImpulseSpringDamperCollisionHandler(coefficientOfRestitution,
                                                        coefficientOfFriction,
                                                        simulationConstructionSet.getRootRegistry(),
                                                        new YoGraphicsListRegistry());
   collisionHandler.setKp(100000);
   collisionHandler.setKd(500);
   CollisionManager collisionManager = new CollisionManager(commonAvatarEnvironment.get().getTerrainObject3D(), collisionHandler);
   simulationConstructionSet.initializeShapeCollision(collisionManager);
 }
}

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

public void registerYoGraphicsLists(ArrayList<YoGraphicsList> yoGraphicsLists)
{
 for (YoGraphicsList yoGraphicsList : yoGraphicsLists)
 {
   registerYoGraphicsList(yoGraphicsList);
 }
}

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

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, FloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector
    .createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED, 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

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

private void setupPositionGraphics()
{
 YoFramePoint3D yoCoMPosition = new YoFramePoint3D("CoMPositionForViz", worldFrame, registry);
 comPositionGraphic = new YoGraphicPosition("CoMPositionGraphic", yoCoMPosition, trackBallSize * 2, new YoAppearanceRGBColor(comPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoICPPosition = new YoFramePoint3D("ICPPositionForViz", worldFrame, registry);
 icpPositionGraphic = new YoGraphicPosition("ICPPositionGraphic", yoICPPosition, trackBallSize * 2, new YoAppearanceRGBColor(icpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCMPPosition = new YoFramePoint3D("CMPPositionForViz", worldFrame, registry);
 cmpPositionGraphic = new YoGraphicPosition("CMPPositionGraphic", yoCMPPosition, trackBallSize * 2, new YoAppearanceRGBColor(cmpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCoPPosition = new YoFramePoint3D("CoPPositionForViz", worldFrame, registry);
 copPositionGraphic = new YoGraphicPosition("CoPPositionGraphic", yoCoPPosition, trackBallSize * 2, new YoAppearanceRGBColor(copPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 graphicsListRegistry.registerYoGraphic("GraphicPositions", comPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", comPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", icpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", icpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", cmpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", cmpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", copPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", copPositionGraphic.createArtifact());
}

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

private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName());
 ArtifactList artifactList = new ArtifactList(getClass().getSimpleName());
 YoGraphicPosition actualEndOfStateICP = new YoGraphicPosition("actualEndOfStateICP", this.actualEndOfStateICP, 0.005, YoAppearance.Aquamarine(),
    GraphicType.SOLID_BALL);
 YoGraphicPosition nominalReferenceICP = new YoGraphicPosition("nominalReferenceICP", this.nominalReferenceICP, 0.01, YoAppearance.LightYellow(),
    GraphicType.BALL);
 YoGraphicPosition nominalEndOfStateICP = new YoGraphicPosition("nominalEndOfStateICP", this.nominalEndOfStateICP, 0.01, YoAppearance.Green(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(actualEndOfStateICP);
 yoGraphicsList.add(nominalReferenceICP);
 yoGraphicsList.add(nominalEndOfStateICP);
 artifactList.add(actualEndOfStateICP.createArtifact());
 artifactList.add(nominalReferenceICP.createArtifact());
 artifactList.add(nominalEndOfStateICP.createArtifact());
 yoGraphicsList.setVisible(visualize);
 artifactList.setVisible(visualize);
 YoGraphicPosition referenceICP = new YoGraphicPosition("controllerReferenceICP", controllerReferenceICP, 0.005, YoAppearance.Yellow(), GraphicType.BALL_WITH_CROSS);
 YoGraphicPosition referenceCMP = new YoGraphicPosition("controllerReferenceCMP", controllerReferenceCMP, 0.005, YoAppearance.Beige(), GraphicType.BALL_WITH_CROSS);
 String name = "ICPOptimization";
 yoGraphicsListRegistry.registerArtifact(name, referenceICP.createArtifact());
 yoGraphicsListRegistry.registerArtifact(name, referenceCMP.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic(name, referenceICP);
 yoGraphicsListRegistry.registerYoGraphic(name, referenceCMP);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

代码示例来源：origin: us.ihmc/ihmc-robot-data-logger

yoGraphicsListRegistry.registerYoGraphicsList(dgoListMap.get(list));
yoGraphicsListRegistry.registerArtifactList(artifactList);

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

final SideDependentList<YoFrameConvexPolygon2D> yoFootPolygons = new SideDependentList<>();
YoVariableRegistry registry = robot.getRobotsYoVariableRegistry();
final YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
final SideDependentList<YoArtifactPolygon> footArtifacts = new SideDependentList<>();
for (final RobotSide robotSide : RobotSide.values)
   footColor = Color.green;
  YoArtifactPolygon footArtifact = new YoArtifactPolygon(robotSide.getCamelCaseNameForStartOfExpression(), yoFootPolygon, footColor, false);
  yoGraphicsListRegistry.registerArtifact("Feet", footArtifact);
  footArtifacts.put(robotSide, footArtifact);
yoGraphicsListRegistry.registerArtifact("Capture", captureRegionArtifact);
final YoEnum<RobotSide> yoSupportSide = new YoEnum<>("supportSide", registry, RobotSide.class);
final YoDouble swingTimeRemaining = new YoDouble("swingTimeRemaining", registry);
final YoFramePoint2D yoICP = new YoFramePoint2D("ICP", worldFrame, registry);
yoGraphicsListRegistry.registerArtifact("ICP", new YoGraphicPosition("ICP", yoICP, 0.02, YoAppearance.Blue(), GraphicType.CROSS).createArtifact());
final double omega0 = 3.4;
scs.addExtraJpanel(scrollPane, "Plotter Legend", false);
yoGraphicsListRegistry.update();
scs.addYoGraphicsListRegistry(yoGraphicsListRegistry, false);
yoGraphicsListRegistry.addArtifactListsToPlotter(simulationOverheadPlotter.getPlotter());
Thread myThread = new Thread(scs);
myThread.start();

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

public CaptureRegionVisualizer(OneStepCaptureRegionCalculator captureRegionCalculator, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.captureRegionCalculator = captureRegionCalculator;
 yoCaptureRegionPolygon = new YoFrameConvexPolygon2d(caption, "", worldFrame, 30, registry);
 YoArtifactPolygon dynamicGraphicYoPolygonArtifact = new YoArtifactPolygon(caption, yoCaptureRegionPolygon, color, false);
 yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), dynamicGraphicYoPolygonArtifact);
 parentRegistry.addChild(registry);
}

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

public void registerArtifactLists(ArrayList<ArtifactList> artifactLists)
{
 for (ArtifactList artifactList : artifactLists)
 {
   registerArtifactList(artifactList);
 }
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

yoGraphicsListRegistry.getRegisteredArtifactLists(artifactLists);
for (ArtifactList artifactList : artifactLists)
frame.setVisible(true);
yoGraphicsListRegistry.addArtifactListsToPlotter(plotter);

代码示例来源：origin: us.ihmc/ihmc-robot-data-visualizer

private void updateYoGraphics(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry == null)
   return;
 List<YoGraphicsList> yoGraphicsLists = yoGraphicsListRegistry.getYoGraphicsLists();
 for (YoGraphicsList yoGraphicsList : yoGraphicsLists)
 {
   ArrayList<YoGraphic> yoGraphics = yoGraphicsList.getYoGraphics();
   for (YoGraphic yoGraphic : yoGraphics)
    yoGraphic.update();
 }
 yoGraphicsListRegistry.update();
}

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

private void doControl()
{
 updateRobotState();
 updateControlStatus();
 updateRequestedBehavior();
 callUpdatables();
 stateMachine.checkTransitionConditions();
 stateMachine.doAction();
 yoGraphicsListRegistry.update();
}

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

@Override
public void updateYoGraphicsListRegistry()
{
 if(robotControlElement.getYoGraphicsListRegistry() != null)
 {
   if(registry!=null)
       registry.updateChangedValues();
   if (simulatedRobot != null)
   {
    simulatedRobot.getRootJoints().get(0).getTransformToWorld(transformToWorld);
    robotControlElement.getYoGraphicsListRegistry().setSimulationTransformToWorld(transformToWorld);
   }
   robotControlElement.getYoGraphicsListRegistry().update();
 }
}

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

public final void setLogDataProcessor(LogDataProcessorFunction logDataProcessor)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = logDataProcessor.getYoGraphicsListRegistry();
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.addArtifactListsToPlotter(plotter);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 logDataProcessorWrapper.addLogDataProcessor(logDataProcessor);
}

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

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithYoVariableServer(double dtForViz, FullRobotModel fullRobotModel,
                                           LogModelProvider logModelProvider,
                                           SideDependentList<ConvexPolygon2d> footPolygonsInSoleFrame, String namePrefix)
{
 YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
                                                              registry, graphicsListRegistry);
 PeriodicThreadScheduler scheduler = new PeriodicNonRealtimeThreadScheduler("PlannerScheduler");
 YoVariableServer yoVariableServer = new YoVariableServer(namePrefix + PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName(), scheduler, logModelProvider,
                              LogSettings.FOOTSTEP_PLANNER, dtForViz);
 yoVariableServer.setSendKeepAlive(true);
 footstepPlannerVisualizer.setTickAndUpdatable(yoVariableServer);
 yoVariableServer.setMainRegistry(registry, fullRobotModel, graphicsListRegistry);
 yoVariableServer.start();
 return footstepPlannerVisualizer;
}

代码示例来源：origin: us.ihmc/ihmc-graphics-description

public void registerYoGraphicsLists(ArrayList<YoGraphicsList> yoGraphicsLists)
{
 for (YoGraphicsList yoGraphicsList : yoGraphicsLists)
 {
   registerYoGraphicsList(yoGraphicsList);
 }
}

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