本文整理了Java中us.ihmc.footstepPlanning.graphSearch.parameters.YoFootstepPlannerParameters类的一些代码示例，展示了YoFootstepPlannerParameters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。YoFootstepPlannerParameters类的具体详情如下：
包路径：us.ihmc.footstepPlanning.graphSearch.parameters.YoFootstepPlannerParameters
类名称：YoFootstepPlannerParameters

YoFootstepPlannerParameters介绍

暂无

代码示例

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

public FootstepPlanningToolboxController(RobotContactPointParameters<RobotSide> contactPointParameters, FootstepPlannerParameters footstepPlannerParameters,
                    VisibilityGraphsParameters visibilityGraphsParameters, StatusMessageOutputManager statusOutputManager,
                    YoVariableRegistry parentRegistry, YoGraphicsListRegistry graphicsListRegistry, double dt)
{
 super(statusOutputManager, parentRegistry);
 this.dt = dt;
 this.yoGraphicPlanarRegionsList = new YoGraphicPlanarRegionsList("FootstepPlannerToolboxPlanarRegions", 200, 30, registry);
 SideDependentList<ConvexPolygon2D> contactPointsInSoleFrame;
 if (contactPointParameters == null)
   contactPointsInSoleFrame = PlannerTools.createDefaultFootPolygons();
 else
   contactPointsInSoleFrame = createFootPolygonsFromContactPoints(contactPointParameters);
 footstepPlanningParameters = new YoFootstepPlannerParameters(registry, footstepPlannerParameters);
 this.visibilityGraphsParameters = new YoVisibilityGraphParameters(visibilityGraphsParameters, registry);
 plannerMap.put(FootstepPlannerType.PLANAR_REGION_BIPEDAL, createPlanarRegionBipedalPlanner(contactPointsInSoleFrame));
 plannerMap.put(FootstepPlannerType.PLAN_THEN_SNAP, new PlanThenSnapPlanner(new TurnWalkTurnPlanner(), contactPointsInSoleFrame));
 plannerMap.put(FootstepPlannerType.A_STAR, createAStarPlanner(contactPointsInSoleFrame));
 plannerMap
    .put(FootstepPlannerType.SIMPLE_BODY_PATH, new SplinePathWithAStarPlanner(footstepPlanningParameters, contactPointsInSoleFrame, parentRegistry, null));
 plannerMap.put(FootstepPlannerType.VIS_GRAPH_WITH_A_STAR,
         new VisibilityGraphWithAStarPlanner(footstepPlanningParameters, this.visibilityGraphsParameters, contactPointsInSoleFrame,
                           graphicsListRegistry, parentRegistry));
 activePlanner.set(FootstepPlannerType.PLANAR_REGION_BIPEDAL);
 graphicsListRegistry.registerYoGraphic("footstepPlanningToolbox", yoGraphicPlanarRegionsList);
 isDone.set(true);
 planId.set(FootstepPlanningRequestPacket.NO_PLAN_ID);
}

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

public YoFootstepPlannerParameters(YoVariableRegistry parentRegistry, FootstepPlannerParameters defaults)
{
 costParameters = new YoFootstepPlannerCostParameters(registry, defaults.getCostParameters());
 parentRegistry.addChild(registry);
 set(defaults);
}

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

if (footstepPlanningParameters.getReturnBestEffortPlan())

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

setCheckForBodyBoxCollisions(parametersPacket.getCheckForBodyBoxCollisions());
setPerformHeuristicSearchPolicies(parametersPacket.getPerformHeuristicSearchPolicies());
if (parametersPacket.getIdealFootstepWidth() != -1.0)
  setIdealFootstepWidth(parametersPacket.getIdealFootstepWidth());
if (parametersPacket.getIdealFootstepLength() != -1.0)
  setIdealFootstepLength(parametersPacket.getIdealFootstepLength());
if (parametersPacket.getWiggleInsideDelta() != -1.0)
  setWiggleInsideDelta(parametersPacket.getWiggleInsideDelta());
if (parametersPacket.getMaximumStepReach() != -1.0)
  setMaximumStepReach(parametersPacket.getMaximumStepReach());
if (parametersPacket.getMaximumStepYaw() != 1.0)
  setMaximumStepYaw(parametersPacket.getMaximumStepYaw());
if (parametersPacket.getMinimumStepWidth() != 1.0)
  setMinimumStepWidth(parametersPacket.getMinimumStepWidth());
if (parametersPacket.getMinimumStepLength() != -1.0)
  setMinimumStepLength(parametersPacket.getMinimumStepLength());
if (parametersPacket.getMinimumStepYaw() != -1.0)
  setMinimumStepYaw(parametersPacket.getMinimumStepYaw());
if (parametersPacket.getMaximumStepReachWhenSteppingUp() != -1.0)
  setMaximumStepReachWhenSteppingUp(parametersPacket.getMaximumStepReachWhenSteppingUp());
if (parametersPacket.getMaximumStepZWhenSteppingUp() != -1.0)
  setMaximumStepZWhenSteppingUp(parametersPacket.getMaximumStepZWhenSteppingUp());
if (parametersPacket.getMaximumStepXWhenForwardAndDown() != -1.0)
  setMaximumStepXWhenForwardAndDown(parametersPacket.getMaximumStepXWhenForwardAndDown());
if (parametersPacket.getMaximumStepZWhenForwardAndDown() != -1.0)
  setMaximumStepZWhenForwardAndDown(parametersPacket.getMaximumStepZWhenForwardAndDown());
if (parametersPacket.getMaximumStepZ() != -1.0)
  setMaximumStepZ(parametersPacket.getMaximumStepZ());
if (parametersPacket.getMinimumFootholdPercent() != -1.0)

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

PlanarRegionBaseOfCliffAvoider cliffAvoider = new PlanarRegionBaseOfCliffAvoider(footstepPlanningParameters, snapper, footPolygons);
DistanceAndYawBasedHeuristics heuristics = new DistanceAndYawBasedHeuristics(footstepPlanningParameters.getCostParameters().getAStarHeuristicsWeight(), footstepPlanningParameters);

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

private void computeBestEffortPlan(double horizonLength)
{
 FramePose3D bodyGoalPose = new FramePose3D(mainObjective.getGoal().getGoalPoseBetweenFeet());
 FramePose3D bodyStartPose = new FramePose3D();
 RobotSide side = mainObjective.getInitialStanceFootSide() != null ? mainObjective.getInitialStanceFootSide() : RobotSide.LEFT;
 FramePose3D stanceFootPose = mainObjective.getInitialStanceFootPose();
 double defaultStepWidth = footstepPlanningParameters.getIdealFootstepWidth();
 ReferenceFrame stanceFrame = new PoseReferenceFrame("stanceFrame", stanceFootPose);
 FramePoint2D bodyStartPoint = new FramePoint2D(stanceFrame);
 bodyStartPoint.setY(side.negateIfLeftSide(defaultStepWidth / 2.0));
 bodyStartPoint.changeFrameAndProjectToXYPlane(ReferenceFrame.getWorldFrame());
 bodyStartPose.setPosition(bodyStartPoint.getX(), bodyStartPoint.getY(), 0.0);
 bodyStartPose.setOrientationYawPitchRoll(stanceFootPose.getYaw(), 0.0, 0.0);
 Vector2D goalDirection = new Vector2D(bodyGoalPose.getPosition());
 goalDirection.sub(bodyStartPose.getX(), bodyStartPose.getY());
 goalDirection.scale(horizonLength / goalDirection.length());
 Point3D waypoint = new Point3D(bodyStartPose.getPosition());
 waypoint.add(goalDirection.getX(), goalDirection.getY(), 0.0);
 waypointPlan.get().add(waypoint);
}

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

private FootstepPlanner createFootstepPlanner()
{
 YoFootstepPlannerParameters parameters = new YoFootstepPlannerParameters(registry, new DefaultFootstepPlanningParameters());
 SideDependentList<ConvexPolygon2D> footPolygonsInSoleFrame = createDefaultFootPolygons();
 SimplePlanarRegionFootstepNodeSnapper snapper = new SimplePlanarRegionFootstepNodeSnapper(footPolygonsInSoleFrame);
 SnapAndWiggleBasedNodeChecker nodeChecker = new SnapAndWiggleBasedNodeChecker(footPolygonsInSoleFrame, parameters);
 ConstantFootstepCost footstepCost = new ConstantFootstepCost(1.0);
 DepthFirstFootstepPlanner planner = new DepthFirstFootstepPlanner(parameters, snapper, nodeChecker, footstepCost, registry);
 planner.setFeetPolygons(footPolygonsInSoleFrame);
 planner.setMaximumNumberOfNodesToExpand(500);
 return planner;
}

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

footstepPlanningParameters.set(footstepPlannerParameters);

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

@Override
public void setupInternal()
{
 YoVariableRegistry registry = new YoVariableRegistry("test");
 parameters = new YoFootstepPlannerParameters(registry, new DefaultFootstepPlanningParameters());
 SideDependentList<ConvexPolygon2D> footPolygonsInSoleFrame = PlannerTools.createDefaultFootPolygons();
 FootstepNodeSnapAndWiggler snapper = new FootstepNodeSnapAndWiggler(footPolygonsInSoleFrame, parameters);
 SnapBasedNodeChecker nodeChecker = new SnapBasedNodeChecker(parameters, footPolygonsInSoleFrame, snapper);
 ConstantFootstepCost stepCostCalculator = new ConstantFootstepCost(1.0);
 planner = new DepthFirstFootstepPlanner(parameters, snapper, nodeChecker, stepCostCalculator, registry);
 planner.setFeetPolygons(footPolygonsInSoleFrame);
 planner.setMaximumNumberOfNodesToExpand(100);
}

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

footstepPlanningParameters.set(footstepPlannerParameters);

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

@Before
public void setupPlanner()
{
 registry = new YoVariableRegistry("test");
 parameters = new YoFootstepPlannerParameters(registry, new DefaultFootstepPlanningParameters());
 SideDependentList<ConvexPolygon2D> footPolygonsInSoleFrame = PlannerTools.createDefaultFootPolygons();
 FlatGroundFootstepNodeSnapper snapper = new FlatGroundFootstepNodeSnapper();
 AlwaysValidNodeChecker nodeChecker = new AlwaysValidNodeChecker();
 ConstantFootstepCost footstepCost = new ConstantFootstepCost(1.0);
 planner = new DepthFirstFootstepPlanner(parameters, snapper, nodeChecker, footstepCost, registry);
 planner.setFeetPolygons(footPolygonsInSoleFrame);
 planner.setMaximumNumberOfNodesToExpand(1000);
}

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

executorService = Executors.newScheduledThreadPool(numberOfCores, threadFactory);
this.footstepPlanningParameters = new YoFootstepPlannerParameters(registry, footstepPlannerParameters);
this.visibilityGraphsParameters = new YoVisibilityGraphParameters(visibilityGraphsParameters, registry);

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

YoFootstepPlannerParameters parameters = new YoFootstepPlannerParameters(registry, new DefaultFootstepPlanningParameters()

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

double footWidth = 0.1;
YoFootstepPlannerParameters parameters = new YoFootstepPlannerParameters(registry, new DefaultFootstepPlanningParameters()