本文整理了Java中us.ihmc.robotics.math.frames.YoFrameConvexPolygon2d.setConvexPolygon2d()方法的一些代码示例，展示了YoFrameConvexPolygon2d.setConvexPolygon2d()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。YoFrameConvexPolygon2d.setConvexPolygon2d()方法的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFrameConvexPolygon2d
类名称：YoFrameConvexPolygon2d
方法名：setConvexPolygon2d

YoFrameConvexPolygon2d.setConvexPolygon2d介绍

暂无

代码示例

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

public void updateConvexPolygon2d(ConvexPolygon2d convexPolygon2d)
{
 yoFrameConvexPolygon2d.setConvexPolygon2d(convexPolygon2d);
 update();
}

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

public void update(Footstep footstep)
{
 footstep.getSolePose(footstepPose);
 yoFootstepPose.setAndMatchFrame(footstepPose);
 List<Point2d> predictedContactPoints = footstep.getPredictedContactPoints();
 List<Point2d> contactPointsToVisualize;
 if (predictedContactPoints == null || predictedContactPoints.isEmpty())
   contactPointsToVisualize = defaultContactPointsInSoleFrame;
 else
   contactPointsToVisualize = predictedContactPoints;
 foothold.setAndUpdate(contactPointsToVisualize, contactPointsToVisualize.size());
 yoFoothold.setConvexPolygon2d(foothold);
 poseViz.update();
 footholdViz.update();
}

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

private void drawSupportPolygon(QuadrupedSupportPolygon supportPolygon, YoFrameConvexPolygon2d yoFramePolygon)
{
 ConvexPolygon2d polygon = new ConvexPolygon2d();
 for(RobotQuadrant quadrant : supportPolygon.getSupportingQuadrantsInOrder())
 {
   FramePoint footstep = supportPolygon.getFootstep(quadrant);
   polygon.addVertex(footstep.getX(), footstep.getY());
 }
 polygon.update();
 yoFramePolygon.setConvexPolygon2d(polygon);
}

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

private void drawSupportPolygon(QuadrupedSupportPolygon supportPolygon, YoFrameConvexPolygon2d yoFramePolygon)
  {
   ConvexPolygon2d polygon = new ConvexPolygon2d();
   for(RobotQuadrant quadrant : supportPolygon.getSupportingQuadrantsInOrder())
   {
     FramePoint footstep = supportPolygon.getFootstep(quadrant);
     polygon.addVertex(footstep.getX(), footstep.getY());
   }
   polygon.update();
   yoFramePolygon.setConvexPolygon2d(polygon);
  }
}

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

contactPolygon.setConvexPolygon2d(convexPolygon2d);

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

footPolygon.setConvexPolygon2d(new ConvexPolygon2d(predictedContactPoints));
footPolygonViz.update();

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

public YoGraphicPolygon(String name, YoFrameConvexPolygon2d yoFrameConvexPolygon2d, YoFramePoint framePoint, YoFrameOrientation orientation, double scale, double height, AppearanceDefinition appearance)
{
 super(name, framePoint, orientation, scale);
 if (yoFrameConvexPolygon2d.getNumberOfVertices() <= 0)
   yoFrameConvexPolygon2d.setConvexPolygon2d(new ConvexPolygon2d(new Point2d[] {new Point2d()}));
 this.yoFrameConvexPolygon2d = yoFrameConvexPolygon2d;
 this.appearance = appearance;
 this.height = height;
 graphics3dObject = new Graphics3DObject();
 graphics3dObject.setChangeable(true);
 ConvexPolygon2d convexPolygon2d = yoFrameConvexPolygon2d.getConvexPolygon2d();
 MeshDataHolder meshDataHolder = MeshDataGenerator.ExtrudedPolygon(convexPolygon2d, height);
 instruction = new Graphics3DAddMeshDataInstruction(meshDataHolder, appearance);
 graphics3dObject.addInstruction(instruction);
}

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

rightRejectedFootstep = new YoFrameConvexPolygon2d("rightRejectedFootstep", worldFrame, maxNumberOfVertices, registry);
leftFootstepStart.setConvexPolygon2d(leftFootInSoleFrame);
rightFootstepStart.setConvexPolygon2d(leftFootInSoleFrame);
leftFootstepGoal.setConvexPolygon2d(leftFootInSoleFrame);
rightFootstepGoal.setConvexPolygon2d(rightFootInSoleFrame);
leftFootstepUnderConsideration.setConvexPolygon2d(leftFootInSoleFrame);
rightFootstepUnderConsideration.setConvexPolygon2d(rightFootInSoleFrame);
leftAcceptedFootstep.setConvexPolygon2d(leftFootInSoleFrame);
rightAcceptedFootstep.setConvexPolygon2d(rightFootInSoleFrame);
leftRejectedFootstep.setConvexPolygon2d(leftFootInSoleFrame);
rightRejectedFootstep.setConvexPolygon2d(rightFootInSoleFrame);
  leftFootstepSolvedPlan.setConvexPolygon2d(leftFootInSoleFrame);
  rightFootstepSolvedPlan.setConvexPolygon2d(rightFootInSoleFrame);

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

public SingleFootstepVisualizer(RobotSide robotSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 Integer index = indices.get(robotSide);
 String namePrefix = robotSide.getLowerCaseName() + "Foot" + index;
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix);
 this.robotSide = robotSide;
 ArrayList<Point2d> polyPoints = new ArrayList<Point2d>();
 yoContactPoints = new YoFramePoint[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint(namePrefix + "ContactPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   yoContactPoints[i].set(0.0, 0.0, -1.0);
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, yoContactPoints[i], 0.01, YoAppearance.Blue());
   yoGraphicsList.add(baseControlPointViz);
   polyPoints.add(new Point2d());
 }
 footPolygon = new YoFrameConvexPolygon2d(namePrefix + "yoPolygon", "", ReferenceFrame.getWorldFrame(), maxContactPoints, registry);
 footPolygon.setConvexPolygon2d(new ConvexPolygon2d(polyPoints));
 soleFramePose = new YoFramePose(namePrefix + "polygonPose", "", ReferenceFrame.getWorldFrame(), registry);
 soleFramePose.setXYZ(0.0, 0.0, -1.0);
 footPolygonViz = new YoGraphicPolygon(namePrefix + "graphicPolygon", footPolygon, soleFramePose, 1.0, footPolygonAppearances.get(robotSide));
 yoGraphicsList.add(footPolygonViz);
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
   yoGraphicsListRegistry.registerGraphicsUpdatableToUpdateInAPlaybackListener(footPolygonViz);
 }
 index++;
 indices.set(robotSide, index);
}