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

YoAppearance.Grey介绍

暂无

代码示例

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

public AlternatingSlopesEnvironment(double rampWidth, double landingLength)
{
 super();
 this.rampWidth = rampWidth;
 
 generator.addRectangle(Math.sqrt(MathTools.square(landingLength)), rampWidth);
 generator.translate(landingLength / 2.0, 0.0, 0.0);
 addPlanarRegionsToTerrain(YoAppearance.Grey());
}

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

private static LinkGraphicsDescription createArmGraphic(double length, double radius, AppearanceDefinition appearance)
{
 LinkGraphicsDescription graphics = new LinkGraphicsDescription();
 graphics.addSphere(1.2 * radius, YoAppearance.Grey());
 graphics.addCylinder(length, radius, appearance);
 return graphics;
}

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

public VaryingStairsPlanarRegionEnvironment(double startX, double startZ, double[] stepTreads, double[] stepRises)
  {
   generator.translate(startX, 0.0, startZ);
   
   for (int i = 0; i < stepTreads.length; i++)
   {
     generator.addCubeReferencedAtBottomNegativeXEdgeCenter(stepTreads[i], 1.0, -0.1);
     generator.translate(stepTreads[i] + 0.01, 0.0, stepRises[i]);
   }

   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

private static LinkGraphicsDescription createHandGraphics()
{
 LinkGraphicsDescription graphics = new LinkGraphicsDescription();
 graphics.addSphere(0.025, YoAppearance.Grey());
 graphics.translate(0.0, 0.0, 0.05);
 graphics.addEllipsoid(0.04, 0.01, 0.1);
 return graphics;
}

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

public ZigZagSlopeEnvironment(double rampSlope, double rampLength, int numberOfRamps, double heightAtRampMiddle)
  {
   double rampLengthX = rampLength * Math.cos(rampSlope);
   double startX = -0.5 * rampLengthX * (numberOfRamps - 1);
   double slopeSign = -1.0;

   for (int i = 0; i < numberOfRamps; i++)
   {
     generator.identity();
     generator.translate(startX + i * rampLengthX, 0.0, heightAtRampMiddle);
     generator.rotate(rampSlope * slopeSign, Axis.Y);
     generator.addRectangle(rampLength, 1.0);
     slopeSign *= -1.0;
   }

   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

public void addRamp(double length, double deltaZ)
  {
   checkHasNotBeenGenerated();
   
   generator.translate(length / 2.0, 0.0, deltaZ / 2.0);
   generator.rotate(-Math.atan2(deltaZ, length), Axis.Y);
   
   generator.addRectangle(Math.sqrt(MathTools.square(length) + MathTools.square(deltaZ)), rampWidth);
   
   generator.rotate(Math.atan2(deltaZ, length), Axis.Y);
   generator.translate(length / 2.0, 0.0, deltaZ / 2.0);
   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

public TestingEnvironment()
{
  terrain = new CombinedTerrainObject3D(getClass().getSimpleName());
  terrain.addBox(-0.2, -0.225, 3.2, 0.225, -0.1, 0.0);
  terrain.addBox(0.15, 0.05, 0.45, 0.25, 0.15);
  terrain.addBox(0.6, -0.05, 0.775, -0.25, 0.08);
  terrain.addCylinder(new RigidBodyTransform(new Quaternion(0.0, 0.0, 0.0, 1.0), new Point3D(1.5, 0.15, 0.1)), 0.2, 0.15, YoAppearance.Grey());
  terrain.addCylinder(new RigidBodyTransform(new Quaternion(0.0, 0.0, 0.0, 1.0), new Point3D(1.8, -0.15, 0.1)), 0.2, 0.025, YoAppearance.Grey());
  terrain.addBox(1.96, 0.125, 1.99, 0.0, 0.2);
  terrain.addBox(2.235, 0.175, 2.265, 0.25, 0.2);
}

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

public GapPlanarRegionEnvironment(double platform1Length, double platform2Length, double platformWidth, double forwardGapSize, double sideGapSize)
 {
   generator.translate(0.0, 0.0, -0.01);
   generator.addCubeReferencedAtBottomMiddle(platform1Length, platformWidth, 0.01); // ground
   double platform2Center = 0.5 * (platform1Length + platform2Length) + forwardGapSize;
   generator.translate(0.5 * (platform1Length + platform2Length) + forwardGapSize, 0.0, 0.0);
   generator.addCubeReferencedAtBottomMiddle(platform2Length, platformWidth, 0.01); // ground
   double sideWidth = 0.18;
   double sideLength = platform1Length + platform2Length + forwardGapSize;
   double distanceToCenter = 0.5 * sideLength - 0.5 * platform1Length;
   generator.translate(-platform2Center + distanceToCenter, 0.5 * platformWidth  + sideGapSize + 0.5 * sideWidth, 0.0);
   generator.addCubeReferencedAtBottomMiddle(sideLength, sideWidth, 0.01); // ground
   addPlanarRegionsToTerrain(YoAppearance.Grey());
 }
}

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

public VaryingHeightTiledGroundEnvironment(double tileWidth, int courseLengthInNumberOfTiles, int courseWidthInNumberOfTiles, double nominalGroundHeight, double maxHeightVariation)
  {
   generator.identity();
   double startCoordinateX = - 0.5 * tileWidth * (courseLengthInNumberOfTiles - 1);
   double startCoordinateY = - 0.5 * tileWidth * (courseWidthInNumberOfTiles- 1);

   for (int i = 0; i < courseLengthInNumberOfTiles; i++)
   {
     for (int j = 0; j < courseWidthInNumberOfTiles; j++)
     {
      double tilePositionX = startCoordinateX + tileWidth * i;
      double tilePositionY = startCoordinateY + tileWidth * j;
      double tilePositionZ = nominalGroundHeight + EuclidCoreRandomTools.nextDouble(random, 0.5 * maxHeightVariation);

      generator.translate(tilePositionX, tilePositionY, tilePositionZ);
      generator.addRectangle(tileWidth, tileWidth);
      generator.identity();
     }
   }

   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

public LittleWallsWithIncreasingHeightPlanarRegionEnvironment()
  {
   generator.translate(2.0, 0.0, -0.01);
   generator.addCubeReferencedAtBottomMiddle(6.0, 1.0, 0.01);
   generator.translate(-2.0, 0.0, 0.0);
   generator.translate(0.35, 0.2, 0.0);
   generator.addCubeReferencedAtBottomMiddle(0.1, 0.1, 0.1);
   generator.translate(0.62, 0.0, 0.0);
   generator.addCubeReferencedAtBottomMiddle(0.1, 0.1, 0.14);
   generator.translate(0.3, -0.3, 0.0);
   generator.addCubeReferencedAtBottomMiddle(0.1, 0.1, 0.15);
   generator.translate(0.4, 0.1, 0.0);
   generator.addCubeReferencedAtBottomMiddle(0.1, 1.0, 0.11);
   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

private void createHandleGraphics()
{
 // graphics - handle hinge
 RotationMatrix rotX90 = new RotationMatrix();
 rotX90.setToRollMatrix(Math.PI / 2.0);
 doorHandleGraphics.rotate(rotX90);
 doorHandleGraphics.translate(new Vector3D(0.0, 0.0, -0.5 * depthY)); // center graphics
 
 for(RobotSide robotSide : RobotSide.values())
 {
   doorHandleGraphics.addCylinder(robotSide.negateIfLeftSide(handleDoorSeparation+0.5*depthY), handleHingeRadius, YoAppearance.Grey());
   // graphics - handle
   double translation = robotSide.negateIfLeftSide(handleDoorSeparation + 0.5*depthY);
   doorHandleGraphics.translate(new Vector3D(0.0, 0.0, translation));
      doorHandleGraphics.rotate(new AxisAngle(0.0, 1.0, 0.0, robotSide.negateIfRightSide(0.5 * Math.PI)));
   doorHandleGraphics.addCylinder(robotSide.negateIfLeftSide(handleLength), handleRadius, YoAppearance.Grey());
   doorHandleGraphics.rotate(new AxisAngle(0.0, 1.0, 0.0, -robotSide.negateIfRightSide(0.5 * Math.PI)));
      doorHandleGraphics.translate(new Vector3D(0.0, 0.0, -translation)); 
 }
 
 handleLink.setLinkGraphics(doorHandleGraphics);
}

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

AppearanceDefinition potholeAppearance = YoAppearance.Grey();
AppearanceDefinition flatAppearance = YoAppearance.DarkGrey();

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

AppearanceDefinition flatAppearance = YoAppearance.Grey();

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

Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, planarRegionsList, YoAppearance.White(), YoAppearance.Grey(), YoAppearance.DarkGray());
scs.setGroundVisible(false);

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

generator.addRectangle(startingBlockLength, 1.75);
addPlanarRegionsToTerrain(YoAppearance.Grey());

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

private static SimulationConstructionSet setupSCS(String testName, YoVariableRegistry testRegistry, PlanarRegionsList regions, Point3D start, Point3D goal)
{
 Robot robot = new Robot(VisibilityGraphsOcclusionTest.class.getSimpleName());
 robot.addYoVariableRegistry(testRegistry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 graphics3DObject.addCoordinateSystem(0.8);
 if (regions != null)
 {
   Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, regions, YoAppearance.White(), YoAppearance.Grey(), YoAppearance.DarkGray());
   scs.setGroundVisible(false);
 }
 graphics3DObject.identity();
 graphics3DObject.translate(start);
 graphics3DObject.translate(0.0, 0.0, 0.05);
 graphics3DObject.addCone(0.3, 0.05, YoAppearance.Green());
 graphics3DObject.identity();
 graphics3DObject.translate(goal);
 graphics3DObject.translate(0.0, 0.0, 0.05);
 graphics3DObject.addCone(0.3, 0.05, YoAppearance.Red());
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setCameraPosition(-7.0, -1.0, 25.0);
 scs.setCameraFix(0.0, 0.0, 0.0);
 return scs;
}

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

public SingleStepEnvironment(double stepUpHeight, double stepLength)
  {
   // first ground plane
   generator.identity();
   generator.addRectangle(2.0, 2.0);

   // step
   generator.translate(1.0 + 0.5 * stepLength, 0.0, stepUpHeight);
   generator.addRectangle(stepLength, 2.0);

   generator.identity();
   generator.translate(1.0, 0.0, 0.5 * stepUpHeight);
   generator.rotate(0.5 * Math.PI, Axis.Y);
   generator.addRectangle(stepUpHeight, 2.0);

   generator.identity();
   generator.translate(1.0 + stepLength, 0.0, 0.5 * stepUpHeight);
   generator.rotate(0.5 * Math.PI, Axis.Y);
   generator.addRectangle(stepUpHeight, 2.0);

   // second ground plane
   generator.identity();
   generator.translate(2.0 + stepLength, 0.0, 0.0);
   generator.addRectangle(2.0, 2.0);

   addPlanarRegionsToTerrain(YoAppearance.Grey());
  }
}

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

private CombinedTerrainObject3D setUpInclinedSurface(int startRow, int endRow, int startColumn, int endColumn)
{
 CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D("InclinedSurface");
 AppearanceDefinition inclinedSurfaceAppearance = YoAppearance.Grey();
 AppearanceDefinition wallAppearance = new YoAppearanceTexture("Textures/cinderBlock2.jpeg");
 YoAppearance.makeTransparent(wallAppearance, 0.7f);
 int rampLengthDimension = (endColumn - startColumn + 1);
 int rampWidthDimension = (endRow - startRow + 1);
 double wallThickness = 0.05;
 double wallHeight = gridWidth;
 double rampWidth = rampWidthDimension * gridLength - wallThickness;
 double rampLength = rampLengthDimension * gridWidth;
 double centerX = (getWorldCoordinate(startRow, startColumn).getX() + getWorldCoordinate(endRow, endColumn).getX()) / 2 + wallThickness / 2;
 double centerY = (getWorldCoordinate(startRow, startColumn).getY() + getWorldCoordinate(endRow, endColumn).getY()) / 2;
 RotatableRampTerrainObject inclinedSurface = new RotatableRampTerrainObject(centerX, centerY, rampLength, rampWidth, flatGridHeight, -90,
                                       inclinedSurfaceAppearance);
 combinedTerrainObject.addTerrainObject(inclinedSurface);
 for (int i = 0; i < rampLengthDimension; i++)
 {
   RigidBodyTransform wallLocation = new RigidBodyTransform();
   wallLocation.appendTranslation(centerX, centerY, 0.0);
   wallLocation.appendTranslation(-wallThickness / 2 - rampWidth / 2, 0.0, wallHeight / 2);
   wallLocation.appendTranslation(0.0, rampLength / 2, 0.0);
   wallLocation.appendTranslation(0.0, -wallHeight * (i + 0.5), 0.0);
   combinedTerrainObject.addTerrainObject(new RotatableBoxTerrainObject(wallLocation, wallThickness, wallHeight, wallHeight, wallAppearance));
 }
 return combinedTerrainObject;
}

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

if (regions != null)
  Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, regions, YoAppearance.White(), YoAppearance.Grey(), YoAppearance.DarkGray());
  scs.setGroundVisible(false);

代码示例来源：origin: us.ihmc/ihmc-quadruped-robotics-test

public SimpleMazeEnvironment()
{
 super("SimpleMazeEnvironment");
 // ground
 RotatableBoxTerrainObject ground = new RotatableBoxTerrainObject(new Box3D(new Point3D(2.0, 0.0, -0.5), new Quaternion(), 6, 4, 1), YoAppearance.Grey());
 addTerrainObject(ground);
 // front-left wall
 RotatableBoxTerrainObject wall1 = new RotatableBoxTerrainObject(new Box3D(new Point3D(1.5, 0.75, 0.5), new Quaternion(), 0.1, 2.5, 1.0), YoAppearance.DarkGrey());
 addTerrainObject(wall1);
 // front-right wall
 RotatableBoxTerrainObject wall2 = new RotatableBoxTerrainObject(new Box3D(new Point3D(1.5, -1.625, 0.5), new Quaternion(), 0.1, 0.75, 1.0), YoAppearance.DarkGrey());
 addTerrainObject(wall2);
 // back-left wall
 RotatableBoxTerrainObject wall3 = new RotatableBoxTerrainObject(new Box3D(new Point3D(3.0, 1.625, 0.5), new Quaternion(), 0.1, 0.75, 1.0), YoAppearance.DarkGrey());
 addTerrainObject(wall3);
 // back-right wall
 RotatableBoxTerrainObject wall4 = new RotatableBoxTerrainObject(new Box3D(new Point3D(3.0, -0.75, 0.5), new Quaternion(), 0.1, 2.5, 1.0), YoAppearance.DarkGrey());
 addTerrainObject(wall4);
}

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