us.ihmc.graphicsDescription.appearance.YoAppearance.Gray()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.Gray()方法的一些代码示例，展示了YoAppearance.Gray()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.Gray()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.appearance.YoAppearance
类名称：YoAppearance
方法名：Gray

YoAppearance.Gray介绍

暂无

代码示例

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

public YoGraphicCoordinateSystem(String namePrefix, String nameSuffix, YoVariableRegistry registry, double scale)
{
 this(namePrefix, nameSuffix, registry, scale, YoAppearance.Gray());
}

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

public YoGraphicReferenceFrame(ReferenceFrame referenceFrame, YoVariableRegistry registry, double scale)
{
 this(referenceFrame, registry, scale, YoAppearance.Gray());
}

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

public PlanarRegionTerrainObject(PlanarRegion planarRegion, double allowablePenetrationThickness)
{
 this(planarRegion, allowablePenetrationThickness, YoAppearance.Gray());
}

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

public void addCoordinateSystem(double length)
{
 addCoordinateSystem(length, YoAppearance.Gray());
}

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

public void addCoordinateSystem(double length)
{
 addCoordinateSystem(length, YoAppearance.Gray());
}

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

private CombinedTerrainObject3D setUpGround(String name)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
 combinedTerrainObject.addBox(-10.0, -10.0, 10.0, 10.0, -0.05, 0.0, YoAppearance.Gray());     
 
 return combinedTerrainObject;
}

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

private ImmutablePair<CombinedTerrainObject3D, Double> createRamp()
{
 double rampSlopeUp = 0.1;
 double rampSlopeDown = 0.08;
 double rampXStart0 = 0.5;
 double rampXLength0 = 6.0; //2.0;
 double landingHeight = rampSlopeUp * rampXLength0;
 double landingLength = 1.0;
 double rampXLength1 = landingHeight / rampSlopeDown;
 double rampYStart = -2.0;
 double rampYEnd = 6.0;
 double landingStartX = rampXStart0 + rampXLength0;
 double landingEndX = landingStartX + landingLength;
 double rampEndX = landingEndX + rampXLength1;
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D("JustARamp");
 AppearanceDefinition appearance = YoAppearance.Green();
 combinedTerrainObject.addRamp(rampXStart0, rampYStart, landingStartX, rampYEnd, landingHeight, appearance);
 combinedTerrainObject.addBox(landingStartX, rampYStart, landingEndX, rampYEnd, 0.0, landingHeight, YoAppearance.Gray());
 combinedTerrainObject.addRamp(rampEndX, rampYStart, landingEndX, rampYEnd, landingHeight, appearance);
 combinedTerrainObject.addBox(rampXStart0 - 2.0, rampYStart, rampEndX + 6.0, rampYEnd, -0.05, 0.0);
 return new ImmutablePair<CombinedTerrainObject3D, Double>(combinedTerrainObject, rampEndX);
}

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

private CombinedTerrainObject3D setUpGround(String name)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
 combinedTerrainObject.addBox(-10.0, -10.0, 10.0, 10.0, -0.05, 0.0, YoAppearance.Gray());
 combinedTerrainObject.addBox(FORWARD_OFFSET,HATCH_OPENING_WIDTH/2,  FORWARD_OFFSET+HATCH_THICKNESS,(HATCH_OPENING_WIDTH/2)+0.5f, 0, HATCH_UPENING_HEIGHT+HATCH_UPENING_HEIGHT_OFF_GROUND, YoAppearance.DarkGray());
 combinedTerrainObject.addBox(FORWARD_OFFSET,-HATCH_OPENING_WIDTH/2,  FORWARD_OFFSET+HATCH_THICKNESS,-(HATCH_OPENING_WIDTH/2)-0.5f, 0, HATCH_UPENING_HEIGHT+HATCH_UPENING_HEIGHT_OFF_GROUND, YoAppearance.DarkGray());
 combinedTerrainObject.addBox(FORWARD_OFFSET,(HATCH_OPENING_WIDTH/2)+0.5f,  FORWARD_OFFSET+HATCH_THICKNESS,-(HATCH_OPENING_WIDTH/2)-0.5f, 0, HATCH_UPENING_HEIGHT_OFF_GROUND, YoAppearance.DarkGray());
 combinedTerrainObject.addBox(FORWARD_OFFSET,(HATCH_OPENING_WIDTH/2)+0.5f,  FORWARD_OFFSET+HATCH_THICKNESS,-(HATCH_OPENING_WIDTH/2)-0.5f, HATCH_UPENING_HEIGHT+ HATCH_UPENING_HEIGHT_OFF_GROUND, HATCH_UPENING_HEIGHT+ HATCH_UPENING_HEIGHT_OFF_GROUND+HATCH_THICKNESS, YoAppearance.DarkGray());
 
 // combinedTerrainObject.addBox(2.0, -0.05, 3.0, 0.05, 2.0, YoAppearance.Beige());
 // combinedTerrainObject.addBox(3.0 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), -0.05, 4.0 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), 0.05, 2.0, YoAppearance.Beige());
 
 return combinedTerrainObject;
}

代码示例来源：origin: us.ihmc/IHMCPerception

private static CombinedTerrainObject3D setUpPath4DRCTrialsTrainingWalkingCourse(String name)
{
  CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
  double courseAngleDeg = 45.0;
  double startDistance = 4.0;
  AppearanceDefinition color = YoAppearance.Gray();
  final double sectionLength = 2.4384;    // 8 ft
  // 1. Ramp and Zigzag Hurdle (Pitch Ramp 15degrees)
  int numberOfRamps = 1;
  combinedTerrainObject.addTerrainObject(setUpMultipleUpDownRamps("upDownRamp1", courseAngleDeg, startDistance, numberOfRamps, sectionLength / 2, color));
  startDistance += sectionLength;
  combinedTerrainObject.addTerrainObject(setUpZigZagHurdles("zigZagHurdles", courseAngleDeg, startDistance, new int[] {9}, -45.0));
  startDistance += sectionLength / 4;
  // 2a. Ascend Flat Top Steps
  // 2b. Descend Flat Top Steps
  // 3a. Ascend Pitch/Roll 15 deg Top Steps
  // 3b. Descend Pitch/Roll 15 deg Top Steps
  combinedTerrainObject.addTerrainObject(setUpCinderBlockFieldActual("cinderBlockField", courseAngleDeg, startDistance));
  startDistance += sectionLength * 5;
  // 4. Two cinder block high hurdle for testcase purposes only, not part of actual trial obstacle course
  combinedTerrainObject.addTerrainObject(setUpZigZagHurdles("zigZagHurdlesTwoHigh", courseAngleDeg, startDistance, new int[] {8, 7}, 45.0));
  return combinedTerrainObject;
}

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

public static CombinedTerrainObject3D setUpPath4DRCTrialsTrainingWalkingCourse(String name)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
 double courseAngleDeg = 45.0;
 double startDistance = 4.0;
 AppearanceDefinition color = YoAppearance.Gray();
 final double sectionLength = 2.4384; // 8 ft
 // 1. Ramp and Zigzag Hurdle (Pitch Ramp 15degrees)
 int numberOfRamps = 1;
 combinedTerrainObject.addTerrainObject(setUpMultipleUpDownRamps("upDownRamp1", courseAngleDeg, startDistance, numberOfRamps, sectionLength / 2, color));
 startDistance += sectionLength;
 combinedTerrainObject.addTerrainObject(setUpZigZagHurdles("zigZagHurdles", courseAngleDeg, startDistance, new int[] {9}, -45.0));
 startDistance += sectionLength / 4;
 // 2a. Ascend Flat Top Steps
 // 2b. Descend Flat Top Steps
 // 3a. Ascend Pitch/Roll 15 deg Top Steps
 // 3b. Descend Pitch/Roll 15 deg Top Steps
 combinedTerrainObject.addTerrainObject(setUpCinderBlockFieldActual("cinderBlockField", courseAngleDeg, startDistance));
 startDistance += sectionLength * 5;
 // 4. Two cinder block high hurdle for testcase purposes only, not part of actual trial obstacle course
 combinedTerrainObject.addTerrainObject(setUpZigZagHurdles("zigZagHurdlesTwoHigh", courseAngleDeg, startDistance, new int[] {8, 7}, 45.0));
 return combinedTerrainObject;
}

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

AppearanceDefinition color = YoAppearance.Gray();

代码示例来源：origin: us.ihmc/IHMCPerception

AppearanceDefinition color = YoAppearance.Gray();

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

Graphics3DObject handGraphics = new Graphics3DObject();
handGraphics.transform(endEffectorTransformToWrist);
handGraphics.addEllipsoid(0.08, 0.03, 0.06, YoAppearance.Gray());
handGraphics.addCoordinateSystem(0.25);
return handGraphics;

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

private CombinedTerrainObject3D setUpVan(String name, Point2D doorLocation)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
 combinedTerrainObject.addBox(doorLocation.getX() - dummyVanLength / 2, doorLocation.getY(), doorLocation.getX() + dummyVanLength / 2,
                doorLocation.getY() + dummyVanWidth, dummyVanWheelRadius, dummyVanWheelRadius + dummyVanHeight, YoAppearance.Gray());
 RigidBodyTransform frontWheel = new RigidBodyTransform();
 RigidBodyTransform rearWheel = new RigidBodyTransform();
 frontWheel.setTranslation(doorLocation.getX() + dummyVanWheelDistance / 2, doorLocation.getY() + dummyVanWidth / 2, dummyVanWheelRadius);
 rearWheel.setTranslation(doorLocation.getX() - dummyVanWheelDistance / 2, doorLocation.getY() + dummyVanWidth / 2, dummyVanWheelRadius);
 frontWheel.appendRollRotation(Math.PI / 2);
 rearWheel.appendRollRotation(Math.PI / 2);
 double offset = 0.05;
 combinedTerrainObject.addCylinder(frontWheel, dummyVanWidth - offset, dummyVanWheelRadius, YoAppearance.DarkGray());
 combinedTerrainObject.addCylinder(rearWheel, dummyVanWidth - offset, dummyVanWheelRadius, YoAppearance.DarkGray());
 combinedTerrainObject.addBox(doorLocation.getX(), doorLocation.getY() - dummyDoorThickness, doorLocation.getX() + dummyDoorWidth, doorLocation.getY(),
                dummyDoorHeightOffset, dummyDoorHeightOffset + dummyDoorHeight, YoAppearance.DarkGray());
 knob.appendTranslation(doorLocation.getX(), doorLocation.getY(), dummyDoorHeightOffset + dummyDoorHeight / 2);
 knob.appendTranslation(dummyDoorKnobLength / 2 + dummyDoorKnobDiameter, -dummyDoorThickness - dummyDoorKnobDiameter, 0);
 knob.appendPitchRotation(Math.PI / 2);
 combinedTerrainObject.addCylinder(knob, dummyDoorKnobLength, dummyDoorKnobDiameter / 2, YoAppearance.Gray());
 return combinedTerrainObject;
}

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

polygonSnapperVisualizer.addPlanarRegionsList(planarRegionsList, YoAppearance.Gray());
polygonSnapperVisualizer.setSnappedPolygon(nonSnappedTransform, snapTransform);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSimpleVerticalSnap()
{
 boolean visualize = false;
 ConvexPolygon2D polygonToSnap = PlanarRegionsListExamples.createRectanglePolygon(0.5, 0.25);
 RigidBodyTransform nonSnappedTransform = new RigidBodyTransform();
 PolygonSnapperVisualizer polygonSnapperVisualizer = null;
 if (visualize)
 {
   polygonSnapperVisualizer = new PolygonSnapperVisualizer(polygonToSnap);
 }
 PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator();
 generator.addCubeReferencedAtBottomMiddle(1.0, 0.5, 0.7);
 PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList();
 PlanarRegion planarRegion = new PlanarRegion();
 RigidBodyTransform snapTransform = PlanarRegionsListPolygonSnapper.snapPolygonToPlanarRegionsList(polygonToSnap, planarRegionsList, planarRegion);
 if (polygonSnapperVisualizer != null)
 {
   polygonSnapperVisualizer.addPlanarRegionsList(planarRegionsList, YoAppearance.Gray());
   polygonSnapperVisualizer.setSnappedPolygon(nonSnappedTransform, snapTransform);
 }
 RigidBodyTransform expectedTransform = new RigidBodyTransform();
 expectedTransform.setTranslation(0.0, 0.0, 0.7);
 assertTrue(expectedTransform.epsilonEquals(snapTransform, 1e-7));
 if (visualize)
 {
   ThreadTools.sleepForever();
 }
}

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

private CombinedTerrainObject3D setUpVessel(String name, Point2D doorLocation)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name);
 combinedTerrainObject.addSphere(doorLocation.getX(), doorLocation.getY(), vesselCartWheelRadius + vesselCartBodyHeight + vesselRadius, vesselRadius,
                 YoAppearance.Blue());
 combinedTerrainObject.addBox(doorLocation.getX() - vesselCartLength / 2, doorLocation.getY() - vesselCartLength / 2,
                doorLocation.getX() + vesselCartLength / 2, doorLocation.getY() + vesselCartLength / 2, vesselCartWheelRadius,
                vesselCartWheelRadius + vesselCartBodyHeight, YoAppearance.Gray());
 RigidBodyTransform frontWheel = new RigidBodyTransform();
 RigidBodyTransform rearWheel = new RigidBodyTransform();
 frontWheel.setTranslation(doorLocation.getX() + vesselCartLength * 0.25, doorLocation.getY(), vesselCartWheelRadius);
 rearWheel.setTranslation(doorLocation.getX() - vesselCartLength * 0.25, doorLocation.getY(), vesselCartWheelRadius);
 frontWheel.appendRollRotation(Math.PI / 2);
 rearWheel.appendRollRotation(Math.PI / 2);
 double offset = 0.05;
 combinedTerrainObject.addCylinder(frontWheel, vesselCartLength - offset, vesselCartWheelRadius, YoAppearance.DarkGray());
 combinedTerrainObject.addCylinder(rearWheel, vesselCartLength - offset, vesselCartWheelRadius, YoAppearance.DarkGray());
 return combinedTerrainObject;
}

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

color = YoAppearance.Gray();
float rampHeight = 0.625f;

代码示例来源：origin: us.ihmc/IHMCPerception

color = YoAppearance.Gray();
float rampHeight = 0.625f;

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

yoGraphicsListRegistry.registerYoGraphic("yoIterativeClosestPointPoseInWorldFrameGraphic", yoIterativeClosestPointPoseInWorldFrameGraphic);
YoGraphicCoordinateSystem yoStateEstimatorInWorldFramePoseGraphic = new YoGraphicCoordinateSystem("yoStateEstimatorInWorldFramePoseGraphic", yoStateEstimatorInWorldFramePose, 0.5, YoAppearance.Gray());
yoGraphicsListRegistry.registerYoGraphic("yoCorrectedPelvisPoseInWorldFrame", yoStateEstimatorInWorldFramePoseGraphic);

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