us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition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.YoGraphicPosition类的一些代码示例，展示了YoGraphicPosition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。YoGraphicPosition类的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition
类名称：YoGraphicPosition

YoGraphicPosition介绍

暂无

代码示例

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

private void createABall(String name, int i, double sizeInMeters, AppearanceDefinition appearance, YoVariableRegistry registry)
{
 YoFramePoint yoFramePoint = new YoFramePoint(name + i, "", ReferenceFrame.getWorldFrame(), registry);
 Double scale = new Double(sizeInMeters);
 YoGraphicPosition newPosition = new YoGraphicPosition(name + i, yoFramePoint, scale, appearance);
 dynamicGraphicPositions.add(newPosition);
}

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

private void updatePositionGraphics()
{
 comPositionGraphic.setPosition(icpPlannerData1.comPosition);
 icpPositionGraphic.setPosition(icpPlannerData1.icpPosition);
 cmpPositionGraphic.setPosition(icpPlannerData1.cmpPosition);
 copPositionGraphic.setPosition(icpPlannerData1.copPosition);
}

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

public void createVisualizers(YoGraphicsList yoGraphicsList, ArtifactList artifactList)
{
 YoGraphicPosition startOfSplineICPViz = new YoGraphicPosition("singleSupportInitialSplineICP", yoStartOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(startOfSplineICPViz);
 artifactList.add(startOfSplineICPViz.createArtifact());
 YoGraphicPosition endOfSplineICPViz = new YoGraphicPosition("singleSupportFinalSplineICP", yoEndOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.BALL);
 yoGraphicsList.add(endOfSplineICPViz);
 artifactList.add(endOfSplineICPViz.createArtifact());
}

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

private void hideGraphics(YoGraphicPosition graphics)
{
 graphics.setPositionToNaN();
 graphics.update();
}

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

public void setBall(double x, double y, double z, AppearanceDefinition appearance, int ballIndex)
{
 if (ballIndex < dynamicGraphicPositions.size())
 {
   YoGraphicPosition dynamicGraphicPosition = dynamicGraphicPositions.get(ballIndex);
   dynamicGraphicPosition.setPosition(x, y, z);
   if (appearance != null)
    dynamicGraphicPosition.setAppearance(appearance);
 }
 else
 {
   if (!this.outOfBallsWarning)
   {
    //          System.err.println("Bag of Balls doesn't have enough footstep graphic positions!");
    this.outOfBallsWarning = true;
   }
 }
}

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

private void setGraphics(YoGraphicPosition graphics, FootstepNode node)
{
 graphics.setPosition(node.getX(), node.getY(), 0.0);
 graphics.update();
}

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

YoGraphicPosition footPositionGraphic = new YoGraphicPosition(prefix + "footPositionViz", footPosition, 0.02, yoAppearance,
   GraphicType.BALL_WITH_CROSS);
footPositionGraphics.set(robotQuadrant, footPositionGraphic);
yoGraphicsListRegistry.registerArtifact(prefix + "feetArtifact", footPositionGraphic.createArtifact());
footPositionGraphics.get(robotQuadrant).update();

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

YoGraphicPosition copViz = new YoGraphicPosition(copName, cop, 0.005, YoAppearance.Navy(), YoGraphicPosition.GraphicType.BALL);
copViz.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerYoGraphic(listName, copViz);
YoArtifactPosition artifact = copViz.createArtifact();
artifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, artifact);

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

YoGraphicPosition pointOnAViz = new YoGraphicPosition("pointOnA", "_" + i, robot.getRobotsYoVariableRegistry(), 0.03, YoAppearance.Purple());
YoGraphicPosition pointOnBViz = new YoGraphicPosition("pointOnB", "_" + i, robot.getRobotsYoVariableRegistry(), 0.03, YoAppearance.Gold());
 pointsOnA.get(j).setPosition(Double.NaN, Double.NaN, Double.NaN);
 pointsOnB.get(j).setPosition(Double.NaN, Double.NaN, Double.NaN);
   pointsOnA.get(vizIndex).setPosition(pointOnA);
   pointsOnB.get(vizIndex).setPosition(pointOnB);

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

@Override
  public YoGraphicPosition duplicate(YoVariableRegistry newRegistry)
  {
   YoDouble x = (YoDouble) newRegistry.getVariable(this.x.getFullNameWithNameSpace());
   YoDouble y = (YoDouble) newRegistry.getVariable(this.y.getFullNameWithNameSpace());
   YoDouble z = (YoDouble) newRegistry.getVariable(this.z.getFullNameWithNameSpace());
   return new YoGraphicPosition(getName(), x, y, z, scale, appearance, type);
  }
}

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

framePointS0.setZ(s0.getY() + offsetHeightAboveGround.getDoubleValue());
framePointS0.changeFrame(worldFrame);
pointS0Viz.setPosition(framePointS0);
pointS0MinViz.setPosition(framePointS0);
pointS0MaxViz.setPosition(framePointS0);
framePointD0.setZ(d0.getY() + offsetHeightAboveGround.getDoubleValue());
framePointD0.changeFrame(worldFrame);
pointD0Viz.setPosition(framePointD0);
pointD0MinViz.setPosition(framePointD0);
pointD0MaxViz.setPosition(framePointD0);
framePointDF.setZ(dF.getY() + offsetHeightAboveGround.getDoubleValue());
framePointDF.changeFrame(worldFrame);
pointDFViz.setPosition(framePointDF);
pointDFMinViz.setPosition(framePointDF);
pointDFMaxViz.setPosition(framePointDF);
pointSFViz.setPosition(framePointSF);
pointSFMinViz.setPosition(framePointSF);
pointSFMaxViz.setPosition(framePointSF);

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

private void registerArtifacts(String name, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry != null)
 {
   artifactList = new ArtifactList(name + "Balls");
   for (YoGraphicPosition yoGraphicPosition : yoGraphicPositions)
   {
    artifactList.add(yoGraphicPosition.createArtifact());
   }
   yoGraphicsListRegistry.registerArtifactList(artifactList);
 }
}

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

@Override
public void initialize()
{
 robot.update();
 for (int i = 0; i < efp_offsetFromRootJoint.size(); i++)
 {
   initialPositions.get(i).set(externalForcePoints.get(i).getYoPosition());
   desiredHeight.add(initialPositions.get(i).getZ() / initialPositions.size());
   efp_positionViz.get(i).update();
 }
 for (int i = 0; i < efp_offsetFromRootJoint.size(); i++)
   initialPositions.get(i).setZ(desiredHeight.getDoubleValue());
 doControl();
}

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

private void updateContactPointDynamicGraphicObjects(int i, ContactPointInterface contactPoint)
  {
   if (contactPoint.isInContact())
   {
     contactPoint.getPosition(tempFramePoint);
     tempFramePoint.changeFrame(worldFrame);
     contactPointsWorld.get(i).set(tempFramePoint);
     normalVectors.get(i).set(tempFrameVector);

     dynamicGraphicPositions.get(i).showGraphicObject();
     dynamicGraphicVectors.get(i).showGraphicObject();
   }
   else
   {
     contactPointsWorld.get(i).setToNaN();
     normalVectors.get(i).set(Double.NaN, Double.NaN, Double.NaN);
     dynamicGraphicPositions.get(i).hideGraphicObject();
     dynamicGraphicVectors.get(i).hideGraphicObject();
   }

   dynamicGraphicPositions.get(i).update();
   dynamicGraphicVectors.get(i).update();
  }
}

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

/**
* Hides all the balls.
*/
public void hideAll()
{
 index = 0;
 for (int i = 0; i < yoGraphicPositions.size(); i++)
 {
   yoGraphicPositions.get(i).setPositionToNaN();
 }
}

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

public void setBall(double x, double y, double z, AppearanceDefinition appearance, int ballIndex)
{
 if (ballIndex < yoGraphicPositions.size())
 {
   YoGraphicPosition yoGraphicPosition = yoGraphicPositions.get(ballIndex);
   yoGraphicPosition.setPosition(x, y, z);
   if (appearance != null)
    yoGraphicPosition.setAppearance(appearance);
 }
 else
 {
   if (!outOfBallsWarning)
   {
    //          System.err.println("Bag of Balls doesn't have enough footstep graphic positions!");
    outOfBallsWarning = true;
   }
 }
}

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

private boolean isPositionReachable(int xIndex, int yIndex, int zIndex)
{
 voxel3dGrid.getVoxel(voxelLocation, xIndex, yIndex, zIndex);
 modifiableVoxelLocation.setIncludingFrame(voxelLocation);
 modifiableVoxelLocation.changeFrame(ReferenceFrame.getWorldFrame());
 currentEvaluationPosition.setPosition(modifiableVoxelLocation);
 currentEvaluationPosition.update();
 return solver.solveFor(voxelLocation);
}

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

@Override
public void initialize()
{
 robot.update();
 for (int i = 0; i < efp_offsetFromRootJoint.size(); i++)
 {
   externalForcePoints.get(i).getYoPosition().get(initialPositions.get(i));
   desiredHeight.add(initialPositions.get(i).getZ() / initialPositions.size());
   efp_positionViz.get(i).update();
 }
 for (int i = 0; i < efp_offsetFromRootJoint.size(); i++)
   initialPositions.get(i).setZ(desiredHeight.getDoubleValue());
 doControl();
}

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

/**
* Hides all the balls.
*/
public void hideAll()
{
 index = 0;
 for (int i = 0; i < dynamicGraphicPositions.size(); i++)
 {
   dynamicGraphicPositions.get(i).setPositionToNaN();
 }
}

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YoGraphicPosition

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