us.ihmc.graphicsDescription.appearance.YoAppearance.Yellow()方法的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.graphicsDescription.appearance.YoAppearance.Yellow()方法的一些代码示例，展示了YoAppearance.Yellow()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。YoAppearance.Yellow()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.appearance.YoAppearance
类名称：YoAppearance
方法名：Yellow

YoAppearance.Yellow介绍

暂无

代码示例

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

public Graphics3DObject getGraphicObject()
{
 graphicObject.transform(transform);
 graphicObject.addCapsule(radius, height, YoAppearance.Yellow());
 return graphicObject;
}

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

private AppearanceDefinition getYoAppearance(RobotQuadrant robotQuadrant)
{
 switch (robotQuadrant)
 {
 case FRONT_LEFT:
   return YoAppearance.White();
 case FRONT_RIGHT:
   return YoAppearance.Yellow();
 case HIND_LEFT:
   return YoAppearance.Blue();
 case HIND_RIGHT:
   return YoAppearance.Black();
 default:
   throw new RuntimeException("bad quad");
 }
}

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

private AppearanceDefinition getYoAppearance(RobotQuadrant robotQuadrant)
{
 switch (robotQuadrant)
 {
 case FRONT_LEFT:
   return YoAppearance.White();
 case FRONT_RIGHT:
   return YoAppearance.Yellow();
 case HIND_LEFT:
   return YoAppearance.Blue();
 case HIND_RIGHT:
   return YoAppearance.Black();
 default:
   throw new RuntimeException("bad quad");
 }
}

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

@Override
public Graphics3DObject getGraphicObject()
{
 RigidBodyTransform rigidbodyTransform = transform;
 Point3D translationToCreate = new Point3D(0, 0, -sizeZ / 2);
 rigidbodyTransform.appendTranslation(translationToCreate);
 graphicObject.transform(rigidbodyTransform);
 AppearanceDefinition app;
 app = YoAppearance.Yellow();
 graphicObject.addCube(sizeX, sizeY, sizeZ, app);
 return graphicObject;
}

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

private void setupVisualization(String prefix, YoGraphicsListRegistry graphicsListRegistry, YoVariableRegistry registry)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(prefix + "VisGraph");
 for (int i = 0; i < bodyPathPointsForVisualization; i++)
 {
   YoFramePoint3D point = new YoFramePoint3D(prefix + "BodyPathPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   point.setToNaN();
   bodyPathPoints.add(point);
   YoGraphicPosition pointVisualization = new YoGraphicPosition(prefix + "BodyPathPoint" + i, point, 0.02, YoAppearance.Yellow());
   yoGraphicsList.add(pointVisualization);
 }
 graphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
}

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

public static AppearanceDefinition[] getStandardRoyGBivRainbow()
{
 AppearanceDefinition[] rainbow = new AppearanceDefinition[] { YoAppearance.Red(), YoAppearance.OrangeRed(), YoAppearance.Yellow(),
    YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Indigo(), YoAppearance.Purple()};
 
 return rainbow;
}

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

public static AppearanceDefinition[] getStandardRoyGBivRainbow()
{
 AppearanceDefinition[] rainbow = new AppearanceDefinition[] { YoAppearance.Red(), YoAppearance.OrangeRed(), YoAppearance.Yellow(),
    YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Indigo(), YoAppearance.Purple()};
 
 return rainbow;
}

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

private TerrainObject3D createBollard(int row, int column, Point2D positionInGrid, double height, double radius)
{
 AppearanceDefinition bollardAppearance = YoAppearance.Yellow();
 RigidBodyTransform location = new RigidBodyTransform();
 location.appendTranslation(getWorldCoordinate(row, column));
 location.appendTranslation(positionInGrid.getX(), positionInGrid.getY(), height / 2);
 return new CylinderTerrainObject(location, height, radius, bollardAppearance);
}

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

private void addSupportBaseGraphics(YoGraphicsListRegistry yoGraphicsListRegistry,YoFramePoint[] basePoints, ArrayList<YoGraphic> basePointsList, ArrayList<YoGraphic> linesList, String namePrefix,AppearanceDefinition appearance)
{
 AppearanceDefinition[] colors = { YoAppearance.Red(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Yellow() };
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix + "Points");
 for (int i = 0; i < basePoints.length; i++)
 {
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, basePoints[i], 0.01, colors[i]);
   yoGraphicsList.add(baseControlPointViz);
   basePointsList.add(baseControlPointViz);
      for (int j = i + 1; j < basePoints.length; j++)
   {
    YoGraphicLineSegment dynamicGraphicLineSegment = new YoGraphicLineSegment(namePrefix + "SupportLine", basePoints[i], basePoints[j],
       1.0, appearance, false);
    yoGraphicsList.add(dynamicGraphicLineSegment);
    linesList.add(dynamicGraphicLineSegment);
   }
 }
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsList.hideYoGraphics();
}

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

private void addSupportBaseGraphics(YoGraphicsListRegistry yoGraphicsListRegistry,YoFramePoint3D[] basePoints, ArrayList<YoGraphic> basePointsList, ArrayList<YoGraphic> linesList, String namePrefix,AppearanceDefinition appearance)
{
 AppearanceDefinition[] colors = { YoAppearance.Red(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Yellow() };
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix + "Points");
 for (int i = 0; i < basePoints.length; i++)
 {
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, basePoints[i], 0.01, colors[i]);
   yoGraphicsList.add(baseControlPointViz);
   basePointsList.add(baseControlPointViz);
      for (int j = i + 1; j < basePoints.length; j++)
   {
    YoGraphicLineSegment yoGraphicLineSegment = new YoGraphicLineSegment(namePrefix + "SupportLine", basePoints[i], basePoints[j],
       1.0, appearance, false);
    yoGraphicsList.add(yoGraphicLineSegment);
    linesList.add(yoGraphicLineSegment);
   }
 }
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsList.hideYoGraphics();
}

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

private void createWheelGraphics(FrameTorus3d wheelTorus)
{
 linkGraphics.addCone(0.05, 0.05);
 linkGraphics.addArcTorus(FastMath.PI / 3, 2 * FastMath.PI / 3, wheelTorus.getRadius(), wheelTorus.getThickness(), YoAppearance.Yellow());
 wheelGraphic = linkGraphics.addArcTorus(2 * FastMath.PI / 3, 7 * FastMath.PI / 3, wheelTorus.getRadius(), wheelTorus.getThickness(), YoAppearance.Black());
}

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

public TwoBollardEnvironment(double barrelSeparation)
{
 // ground plane
 generator.addRectangle(1.0, barrelSeparation + 0.5);
 generator.translate(2.0, 0.0, 0.0);
 generator.addRectangle(3.0, 3.0);
 generator.translate(-4.0, 0.0, 0.0);
 generator.addRectangle(3.0, 3.0);
 addPlanarRegionsToTerrain(YoAppearance.RGBColor(110 / 256.0, 121 / 256.0, 121 / 256.0));
 // first bollard
 generator.identity();
 generator.translate(0.0, 0.5 * barrelSeparation, 0.0);
 generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight);
 addPlanarRegionsToTerrain(YoAppearance.Yellow());
 // second bollard
 generator.identity();
 generator.translate(0.0, -0.5 * barrelSeparation, 0.0);
 generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight);
 addPlanarRegionsToTerrain(YoAppearance.Yellow());
}

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

public FloatingObjectBoxRobot(String imageResourcePath)
{
 super(FloatingObjectBoxRobot.class.getSimpleName());
 qrCodeJoint = new FloatingJoint("object", "object", new Vector3D(), this);
 Link qrCodeLink = new Link("object");
 qrCodeLink.setMassAndRadiiOfGyration(1.0, 0.1, 0.1, 0.1);
 Graphics3DObject qrCodeLinkGraphics = new Graphics3DObject();
 //      qrCodeLinkGraphics.addCoordinateSystem(2.0);
 double cubeLength = 1.0;
 qrCodeLinkGraphics.translate(0.0, 0.0, -0.99 * cubeLength);
 AppearanceDefinition cubeAppearance = YoAppearance.Texture(imageResourcePath);
 qrCodeLinkGraphics.addCube(cubeLength * 0.98, cubeLength * 1.01, cubeLength * 0.98, YoAppearance.Yellow());
 boolean[] textureFaces = new boolean[] { true, true, false, false, false, false };
 qrCodeLinkGraphics.translate(0.0, 0.0, -0.01 * cubeLength);
 qrCodeLinkGraphics.addCube(cubeLength, cubeLength, cubeLength, cubeAppearance, textureFaces);
 qrCodeLink.setLinkGraphics(qrCodeLinkGraphics);
 qrCodeJoint.setLink(qrCodeLink);
 addRootJoint(qrCodeJoint);
 setGravity(0.0);
}

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

public static void addGoalViz(FramePose3D goalPose, YoVariableRegistry registry, YoGraphicsListRegistry graphicsListRegistry)
  {
   YoFramePoint3D yoGoal = new YoFramePoint3D("GoalPosition", worldFrame, registry);
   yoGoal.set(goalPose.getPosition());
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("GoalViz", yoGoal, 0.05, YoAppearance.Yellow()));
   YoFramePoint3D yoStart = new YoFramePoint3D("StartPosition", worldFrame, registry);
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("StartViz", yoStart, 0.05, YoAppearance.Blue()));
   PoseReferenceFrame goalFrame = new PoseReferenceFrame("GoalFrame", goalPose);
   FrameVector3D goalOrientation = new FrameVector3D(goalFrame, 0.5, 0.0, 0.0);
   goalOrientation.changeFrame(worldFrame);
   YoFrameVector3D yoGoalOrientation = new YoFrameVector3D("GoalVector", worldFrame, registry);
   yoGoalOrientation.set(goalOrientation);
//      graphicsListRegistry.registerYoGraphic("vizOrientation", new YoGraphicVector("GoalOrientationViz", yoGoal, yoGoalOrientation, 1.0, YoAppearance.White()));
  }

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/simulation-construction-set-tools

public FloatingFiducialBoxRobot(Fiducial fiducial)
{
 super("FloatingFiducialBoxRobot");
 qrCodeJoint = new FloatingJoint("qrCode", "qrCode", new Vector3D(), this);
 Link qrCodeLink = new Link("qrCode");
 qrCodeLink.setMassAndRadiiOfGyration(1.0, 0.1, 0.1, 0.1);
 Graphics3DObject qrCodeLinkGraphics = new Graphics3DObject();
 //      qrCodeLinkGraphics.addCoordinateSystem(2.0);
 double cubeLength = 1.0;
 qrCodeLinkGraphics.translate(0.0, 0.0, -0.99 * cubeLength);
 AppearanceDefinition cubeAppearance = YoAppearance.Texture(fiducial.getPathString());
 qrCodeLinkGraphics.addCube(cubeLength * 0.98, cubeLength * 1.01, cubeLength * 0.98, YoAppearance.Yellow());
 boolean[] textureFaces = new boolean[] { true, true, false, false, false, false };
 qrCodeLinkGraphics.translate(0.0, 0.0, -0.01 * cubeLength);
 qrCodeLinkGraphics.addCube(cubeLength, cubeLength, cubeLength, cubeAppearance, textureFaces);
 qrCodeLink.setLinkGraphics(qrCodeLinkGraphics);
 qrCodeJoint.setLink(qrCodeLink);
 addRootJoint(qrCodeJoint);
 setGravity(0.0);
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2D yoFootSupportPolygon = new YoFrameConvexPolygon2D(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

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

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2d yoFootSupportPolygon = new YoFrameConvexPolygon2d(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

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

public ProvidedMassMatrixToolRigidBody(RobotSide robotSide, final FullHumanoidRobotModel fullRobotModel, double gravity,
   ArmControllerParameters armControllerParameters, YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 String name = robotSide.getCamelCaseNameForStartOfExpression() + "Tool";
 this.registry = new YoVariableRegistry(name);
 this.fullRobotModel = fullRobotModel;
 this.gravity = gravity;
 this.handFixedFrame = fullRobotModel.getHand(robotSide).getBodyFixedFrame();
 this.handControlFrame = fullRobotModel.getHandControlFrame(robotSide);
 this.elevatorFrame = fullRobotModel.getElevatorFrame();
 toolFrame = new PoseReferenceFrame(name + "Frame", elevatorFrame);
 RigidBodyInertia inertia = new RigidBodyInertia(toolFrame, new Matrix3d(), 0.0);
 this.toolJoint = new SixDoFJoint(name + "Joint", fullRobotModel.getElevator(), fullRobotModel.getElevator().getBodyFixedFrame());
 this.toolBody = new RigidBody(name + "Body", inertia, toolJoint);
 objectCenterOfMass = new YoFramePoint(name + "CoMOffset", handControlFrame, registry);
 objectMass = new DoubleYoVariable(name + "ObjectMass", registry);
 objectForceInWorld = new YoFrameVector(name + "Force", ReferenceFrame.getWorldFrame(), registry);
 this.objectCenterOfMassInWorld = new YoFramePoint(name + "CoMInWorld", ReferenceFrame.getWorldFrame(), registry);
 if (yoGraphicsListRegistry != null)
 {
   YoGraphicsList yoGraphicsList = new YoGraphicsList(name);
   YoGraphic comViz = new YoGraphicPosition(name + "CenterOfMassViz", objectCenterOfMassInWorld, 0.05, YoAppearance.Red());
   yoGraphicsList.add(comViz);
   YoGraphic vectorViz = new YoGraphicVector(name + "ForceViz", objectCenterOfMassInWorld, objectForceInWorld, YoAppearance.Yellow());
   yoGraphicsList.add(vectorViz);
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 }
 parentRegistry.addChild(registry);
}

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

yoHandControlFramePose = new YoFramePoseUsingYawPitchRoll("handControlFrame",HumanoidReferenceFrames.getWorldFrame(), registry);
yoHandControlFramePose.set(handControlFramePose);
YoGraphicCoordinateSystem yoToolTip = new YoGraphicCoordinateSystem("toolTipViz", yoHandControlFramePose, 0.1, YoAppearance.Yellow());

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