本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicAbstractShape
类的一些代码示例,展示了YoGraphicAbstractShape
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。YoGraphicAbstractShape
类的具体详情如下:
包路径:us.ihmc.graphicsDescription.yoGraphics.YoGraphicAbstractShape
类名称:YoGraphicAbstractShape
暂无
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void setOrientation(FrameQuaternionReadOnly orientation)
{
if (isUsingYawPitchRoll())
yoFrameYawPitchRoll.set(orientation);
else
yoFrameQuaternion.set(orientation);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void setToReferenceFrame(ReferenceFrame referenceFrame)
{
if (referenceFrame == null)
throw new RuntimeException("referenceFrame == null");
RigidBodyTransform transformToWorld = new RigidBodyTransform();
ReferenceFrame ancestorFrame = referenceFrame;
// March up the parents until you get to the world:
while (!ancestorFrame.isWorldFrame())
{
RigidBodyTransform transformToAncestor = ancestorFrame.getTransformToParent();
RigidBodyTransform tempTransform3D = new RigidBodyTransform(transformToAncestor);
tempTransform3D.multiply(transformToWorld);
transformToWorld = tempTransform3D;
ReferenceFrame newAncestorFrame = ancestorFrame.getParent();
if (newAncestorFrame == null)
throw new RuntimeException("No ancestor path to world. referenceFrame = " + referenceFrame + ", most ancient = " + ancestorFrame);
ancestorFrame = newAncestorFrame;
}
setTransformToWorld(transformToWorld);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
@Override
public YoVariable<?>[] getVariables()
{
//poly + framePoint + frameOrientation
YoVariable<?>[] superYoVariables = super.getVariables();
YoVariable<?>[] yoVariables = new YoVariable[1 + 2 * yoFrameConvexPolygon2d.getMaxNumberOfVertices() + superYoVariables.length];
int i = 0;
yoVariables[i++] = yoFrameConvexPolygon2d.getYoNumberOfVertices();
for (YoFramePoint2D p : yoFrameConvexPolygon2d.getVertexBuffer())
{
yoVariables[i++] = p.getYoX();
yoVariables[i++] = p.getYoY();
}
for (YoVariable<?> superYoVariable : superYoVariables)
{
yoVariables[i++] = superYoVariable;
}
return yoVariables;
}
代码示例来源:origin: us.ihmc/IHMCGraphicsDescription
public void setToReferenceFrame(ReferenceFrame referenceFrame)
{
if (referenceFrame == null)
throw new RuntimeException("referenceFrame == null");
RigidBodyTransform transformToWorld = new RigidBodyTransform();
ReferenceFrame ancestorFrame = referenceFrame;
// March up the parents until you get to the world:
while (!ancestorFrame.isWorldFrame())
{
RigidBodyTransform transformToAncestor = ancestorFrame.getTransformToParent();
RigidBodyTransform tempTransform3D = new RigidBodyTransform(transformToAncestor);
tempTransform3D.multiply(transformToWorld);
transformToWorld = tempTransform3D;
ReferenceFrame newAncestorFrame = ancestorFrame.getParent();
if (newAncestorFrame == null)
throw new RuntimeException("No ancestor path to world. referenceFrame = " + referenceFrame + ", most ancient = " + ancestorFrame);
ancestorFrame = newAncestorFrame;
}
setTransformToWorld(transformToWorld);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void setYawPitchRoll(double yaw, double pitch, double roll)
{
if (isUsingYawPitchRoll())
yoFrameYawPitchRoll.setYawPitchRoll(yaw, pitch, roll);
else
yoFrameQuaternion.setYawPitchRoll(yaw, pitch, roll);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void getOrientation(FrameQuaternion orientationToPack)
{
if (isUsingYawPitchRoll())
yoFrameYawPitchRoll.getFrameOrientationIncludingFrame(orientationToPack);
else
orientationToPack.setIncludingFrame(yoFrameQuaternion);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void setPoseToNaN()
{
yoFramePoint.setToNaN();
if (isUsingYawPitchRoll())
yoFrameYawPitchRoll.setToNaN();
else
yoFrameQuaternion.setToNaN();
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
@Override
protected boolean containsNaN()
{
if (yoFramePoint.containsNaN())
return true;
if (isUsingYawPitchRoll() ? yoFrameYawPitchRoll.containsNaN() : yoFrameQuaternion.containsNaN())
return true;
return false;
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public YoVariable<?>[] getVariables()
{
YoVariable<?>[] vars = new YoVariable[isUsingYawPitchRoll() ? 6 : 7];
int i = 0;
vars[i++] = yoFramePoint.getYoX();
vars[i++] = yoFramePoint.getYoY();
vars[i++] = yoFramePoint.getYoZ();
if (isUsingYawPitchRoll())
{
vars[i++] = yoFrameYawPitchRoll.getYaw();
vars[i++] = yoFrameYawPitchRoll.getPitch();
vars[i++] = yoFrameYawPitchRoll.getRoll();
}
else
{
vars[i++] = yoFrameQuaternion.getYoQx();
vars[i++] = yoFrameQuaternion.getYoQy();
vars[i++] = yoFrameQuaternion.getYoQz();
vars[i++] = yoFrameQuaternion.getYoQs();
}
return vars;
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
@Override
protected void computeRotationTranslation(AffineTransform transform3D)
{
transform3D.setIdentity();
if (isUsingYawPitchRoll())
{
yoFrameYawPitchRoll.getEulerAngles(rotationEulerVector);
transform3D.setRotationEuler(rotationEulerVector);
}
else
{
transform3D.setRotation(yoFrameQuaternion);
}
transform3D.setTranslation(yoFramePoint);
transform3D.setScale(scale);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public void setPose(FramePose3D framePose)
{
yoFramePoint.checkReferenceFrameMatch(framePose.getReferenceFrame());
yoFramePoint.set(framePose.getPosition());
if (isUsingYawPitchRoll())
yoFrameYawPitchRoll.set(framePose.getOrientation());
else
yoFrameQuaternion.set(framePose.getOrientation());
}
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