us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon.<init>()方法的使用及代码示例-6ren

us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon.()方法的使用及代码示例

转载作者：知者更新时间：2024-03-15 20:02:40

本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon.<init>()方法的一些代码示例，展示了YoGraphicPolygon.<init>()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。YoGraphicPolygon.<init>()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon
类名称：YoGraphicPolygon
方法名：<init>

YoGraphicPolygon.<init>介绍

暂无

代码示例

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

static YoGraphicPolygon createAsRemoteYoGraphic(String name, YoVariable<?>[] yoVariables, double[] constants, AppearanceDefinition appearance)
{
 return new YoGraphicPolygon(name, yoVariables, constants, appearance);
}

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

private void createCandidateFootstep(String name, int index, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + index + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.setToNaN();
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + index + "YoGraphicPolygon", footstepYoFramePose,
                                  defaultFootPolygon.getNumberOfVertices(), registry, 1.0, YoAppearance.Red());
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 candidateFootstepPolygons.put(index, footstepYoGraphicPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
}

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

private YoGraphicPolygon createStaticFootstep(String name, FramePose3D framePose, AppearanceDefinition appearance, YoVariableRegistry registry,
                       YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.set(framePose);
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + "YoGraphicPolygon", footstepYoFramePose, defaultFootPolygon.getNumberOfVertices(),
                                  registry, 1.0, appearance);
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
 return footstepYoGraphicPolygon;
}

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

public FootstepVisualizer(String name, String graphicListName, RobotSide robotSide, ContactablePlaneBody contactableFoot, AppearanceDefinition footstepColor,
   YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry registry)
{
 this.robotSide = robotSide;
 yoFootstepPose = new YoFramePose(name + "Pose", worldFrame, registry);
 yoFoothold = new YoFrameConvexPolygon2d(name + "Foothold", "", worldFrame, maxNumberOfContactPoints, registry);
 double coordinateSystemSize = 0.2;
 double footholdScale = 1.0;
 poseViz = new YoGraphicCoordinateSystem(name + "Pose", yoFootstepPose, coordinateSystemSize, footstepColor);
 footholdViz = new YoGraphicPolygon(name + "Foothold", yoFoothold, yoFootstepPose, footholdScale, footstepColor);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, poseViz);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, footholdViz);
 List<FramePoint2d> contactPoints2d = contactableFoot.getContactPoints2d();
 for (int i = 0; i < contactPoints2d.size(); i++)
   defaultContactPointsInSoleFrame.add(contactPoints2d.get(i).getPointCopy());
}

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

@Override
public YoGraphicPolygon duplicate(YoVariableRegistry newRegistry)
{
 if (isUsingYawPitchRoll())
   return new YoGraphicPolygon(getName(), yoFrameConvexPolygon2d.duplicate(newRegistry), yoFramePoint.duplicate(newRegistry),
                 yoFrameYawPitchRoll.duplicate(newRegistry), scale, height, appearance);
 else
   return new YoGraphicPolygon(getName(), yoFrameConvexPolygon2d.duplicate(newRegistry), yoFramePoint.duplicate(newRegistry),
                 yoFrameQuaternion.duplicate(newRegistry), scale, height, appearance);
}

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

rightRejectedFootstep.setConvexPolygon2d(rightFootInSoleFrame);
leftFootstepStartViz = new YoGraphicPolygon("leftFootstepStartViz", leftFootstepStart, "leftFootstepStartPose", "", registry, 1.0, YoAppearance.Gold());
rightFootstepStartViz = new YoGraphicPolygon("rightFootstepStartViz", rightFootstepStart, "rightFootstepStartPose", "", registry, 1.0, YoAppearance.Gold());
leftFootstepGoalViz = new YoGraphicPolygon("leftFootstepGoalViz", leftFootstepGoal, "leftFootstepGoalPose", "", registry, 1.0, YoAppearance.Chocolate());
rightFootstepGoalViz = new YoGraphicPolygon("rightFootstepGoalViz", rightFootstepGoal, "rightFootstepGoalPose", "", registry, 1.0, YoAppearance.Chocolate());
leftFootstepToExpandViz = new YoGraphicPolygon("leftFootstepToExpandViz", leftFootstepUnderConsideration, "leftFootstepToExpandPose", "", registry, 1.0, YoAppearance.Yellow());
rightFootstepToExpandViz = new YoGraphicPolygon("rightFootstepToExpandViz", rightFootstepUnderConsideration, "rightFootstepToExpandPose", "", registry, 1.0, YoAppearance.Yellow());
leftAcceptedFootstepViz = new YoGraphicPolygon("leftAcceptedFootstepViz", leftAcceptedFootstep, "leftAcceptedFootstepPose", "", registry, 1.0, YoAppearance.Green());
rightAcceptedFootstepViz = new YoGraphicPolygon("rightAcceptedFootstepViz", rightAcceptedFootstep, "rightAcceptedFootstepPose", "", registry, 1.0, YoAppearance.DarkGreen());
leftRejectedFootstepViz = new YoGraphicPolygon("leftRejectedFootstepViz", leftRejectedFootstep, "leftRejectedFootstepPose", "", registry, 1.0, YoAppearance.Red());
rightRejectedFootstepViz = new YoGraphicPolygon("rightRejectedFootstepViz", rightRejectedFootstep, "rightRejectedFootstepPose", "", registry, 1.0, YoAppearance.DarkRed());
  leftFootstepSolvedPlan.setConvexPolygon2d(leftFootInSoleFrame);
  YoGraphicPolygon leftFootstepSolvedPlanViz = new YoGraphicPolygon("leftFootstepSolvedPlanViz" + i, leftFootstepSolvedPlan, "leftFootstepSolvedPlan" + i, "", registry, 1.0, YoAppearance.Purple());
  graphicsListRegistry.registerYoGraphic("FootstepPlanner", leftFootstepSolvedPlanViz);
  rightFootstepSolvedPlan.setConvexPolygon2d(rightFootInSoleFrame);
  YoGraphicPolygon rightFootstepSolvedPlanViz = new YoGraphicPolygon("rightFootstepSolvedPlanViz" + i, rightFootstepSolvedPlan, "rightFootstepSolvedPlan" + i, "", registry, 1.0, YoAppearance.Purple());
  graphicsListRegistry.registerYoGraphic("FootstepPlanner", rightFootstepSolvedPlanViz);

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

public Controller(YoGraphicsListRegistry graphicsListRegistry)
{
  for (int i = 0; i < numberOfPoints; i++)
  {
   YoFramePoint3D yoPoint = new YoFramePoint3D("Position" + i, ReferenceFrame.getWorldFrame(), registry);
   YoGraphicPosition position = new YoGraphicPosition("Position" + i, yoPoint, 0.02, YoAppearance.Blue());
   points.add(yoPoint);
   graphicsListRegistry.registerYoGraphic("BodyPath", position);
  }
  YoFrameConvexPolygon2D yoDefaultFootPolygon = new YoFrameConvexPolygon2D("DefaultFootPolygon", ReferenceFrame.getWorldFrame(), 4, registry);
  yoDefaultFootPolygon.set(PlannerTools.createDefaultFootPolygon());
  for (RobotSide side : RobotSide.values)
  {
   AppearanceDefinition appearance = side == RobotSide.RIGHT ? YoAppearance.Green() : YoAppearance.Red();
   ArrayList<YoFramePoseUsingYawPitchRoll> poses = new ArrayList<>();
   for (int i = 0; i < stepsPerSide; i++)
   {
     YoFramePoseUsingYawPitchRoll yoFootstepPose = new YoFramePoseUsingYawPitchRoll("footPose" + side.getCamelCaseName() + i, ReferenceFrame.getWorldFrame(), registry);
     YoGraphicPolygon footstepViz = new YoGraphicPolygon("footstep" + side.getCamelCaseName() + i, yoDefaultFootPolygon, yoFootstepPose, 1.0,
                               appearance);
     poses.add(yoFootstepPose);
     yoFootstepPose.setToNaN();
     graphicsListRegistry.registerYoGraphic("viz", footstepViz);
   }
   yoSteps.put(side, poses);
  }
  planner.setTimeout(1.0);
}

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

public PolygonSnapperVisualizer(ConvexPolygon2D snappingPolygonShape)
{
 Robot robot = new Robot("Robot");
 scs = new SimulationConstructionSet(robot);
 scs.setDT(0.1, 1);
 polygonToSnap = new YoFrameConvexPolygon2D("polygonToSnap", ReferenceFrame.getWorldFrame(), 4, registry);
 snappedPolygon = new YoFrameConvexPolygon2D("snappedPolygon", ReferenceFrame.getWorldFrame(), 4, registry);
 polygonToSnap.set(snappingPolygonShape);
 snappedPolygon.set(snappingPolygonShape);
 polygonToSnapPose = new YoFramePoseUsingYawPitchRoll("polygonToSnapPose", ReferenceFrame.getWorldFrame(), registry);
 snappedPolygonPose = new YoFramePoseUsingYawPitchRoll("snappedPolygonPose", ReferenceFrame.getWorldFrame(), registry);
 polygonToSnapPose.setToNaN();
 snappedPolygonPose.setToNaN();
 polygonToSnapViz = new YoGraphicPolygon("polygonToSnapViz", polygonToSnap, polygonToSnapPose, 1.0, YoAppearance.Green());
 snappedPolygonViz = new YoGraphicPolygon("snappedPolygonViz", polygonToSnap, snappedPolygonPose, 1.0, YoAppearance.Red());
 polygonToSnapViz.update();
 snappedPolygonViz.update();
 scs.addYoGraphic(polygonToSnapViz);
 scs.addYoGraphic(snappedPolygonViz);
 scs.addYoVariableRegistry(registry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

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

bubble.setTransparency(0.5);
collisionSphere = new YoGraphicEllipsoid("CollisionSphere", solePose.getPosition(), solePose.getOrientation(), bubble, new Vector3D());
stanceFootGraphic = new YoGraphicPolygon("StanceFootGraphic", footPolygon.getNumberOfVertices(), registry, true, 1.0, YoAppearance.Blue());
swingStartGraphic = new YoGraphicPolygon("SwingStartGraphic", footPolygon.getNumberOfVertices(), registry, true, 1.0, YoAppearance.Green());
swingEndGraphic = new YoGraphicPolygon("SwingEndGraphic", footPolygon.getNumberOfVertices(), registry, true, 1.0, YoAppearance.Yellow());
intersectionMap = new HashMap<SwingOverPlanarRegionsTrajectoryCollisionType, YoGraphicPosition>();
for (SwingOverPlanarRegionsTrajectoryCollisionType swingOverPlanarRegionsTrajectoryCollisionType : SwingOverPlanarRegionsTrajectoryCollisionType.values())

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);
}

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

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 YoFramePoint3D[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint3D(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.set(new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(polyPoints)));
 soleFramePose = new YoFramePoseUsingYawPitchRoll(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);
}

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

referenceFrame);
return new YoGraphicPolygon(name, convexPolygon2d, framePoint, frameOrientation, consts[0], appearance);

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

yoPose.setToNaN();
   solePosesForVisualization.get(robotSide).add(yoPose);
   YoGraphicPolygon footstepViz = new YoGraphicPolygon("footstep" + sideName + i, defaultPolygon, yoPose, 1.0, appearance);
   graphicsListRegistry.registerYoGraphic("viz", footstepViz);
YoGraphicPolygon stanceViz = new YoGraphicPolygon("startFootPose", defaultPolygon, startStep, 1.0, YoAppearance.Black());
graphicsListRegistry.registerYoGraphic("viz", stanceViz);
 step.setToNaN();
 stepPosesTaken.add(step);
 YoGraphicPolygon polygon = new YoGraphicPolygon("step" + i, defaultPolygon, step, 1.0, YoAppearance.Gray());
 graphicsListRegistry.registerYoGraphic("viz", polygon);
 visiblePolygons.add(polygon);
 visiblePolygonPoses.add(pose);
 YoGraphicPolygon visualization = new YoGraphicPolygon("Polygon" + i, polygon, pose.getPosition(), pose.getOrientation(), 1.0, 0.02,
                            new YoAppearanceRGBColor(Color.BLUE, 0.8));
 polygonVisualizations.add(visualization);

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

visiblePolygons.add(polygon);
visiblePolygonPoses.add(pose);
YoGraphicPolygon visualization = new YoGraphicPolygon("Polygon" + i, polygon, pose.getPosition(), pose.getOrientation(), 1.0, 0.02,
                           new YoAppearanceRGBColor(Color.BLUE, 0.8));
polygonVisualizations.add(visualization);

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

floorGraphic = new YoGraphicPolygon("floorGraphic", yoFrameConvexPolygon2d, yoPlanePose, 3.0, YoAppearance.DimGrey());
graphicsRegistry.registerYoGraphic("ground", floorGraphic);

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

YoGraphicPolygon footstepViz = new YoGraphicPolygon("footstep" + i, yoDefaultFootPolygon, yoFootstepPose, 1.0, appearance);
vizGraphicsListRegistry.registerYoGraphic("viz", footstepViz);
YoGraphicPolygon fullFootstepViz = new YoGraphicPolygon("fullFootstep" + i, yoDefaultFootPolygon, yoFootstepPose, 1.0, YoAppearance.Glass(0.7));
vizGraphicsListRegistry.registerYoGraphic("viz", fullFootstepViz);
YoFrameConvexPolygon2D yoFoothold = new YoFrameConvexPolygon2D("Foothold" + i, worldFrame, 4, vizRegistry);
yoFoothold.set(foothold);
YoGraphicPolygon footstepViz = new YoGraphicPolygon("footstep" + i, yoFoothold, yoFootstepPose, 1.0, appearance);
vizGraphicsListRegistry.registerYoGraphic("viz", footstepViz);

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

yoPolygon.set(polygon);
YoFramePoseUsingYawPitchRoll yoPolyOrigin = new YoFramePoseUsingYawPitchRoll("PolyOrigin", worldFrame, registry);
YoGraphicPolygon yoGraphicPolygon = new YoGraphicPolygon("Polygon", yoPolygon, yoPolyOrigin, 3.0, appearance);
yoPolyOrigin.setXYZ(0.1, 0.2, 1.0);
yoPolyOrigin.setYawPitchRoll(-0.1, -0.4, -0.3);
final YoFrameYawPitchRoll yoFramePolygonOrientation = new YoFrameYawPitchRoll("yoPolygonOrientation", "", worldFrame, registry);
yoFramePolygonOrientation.setYawPitchRoll(1.2, 0.1, 0.4);
final YoGraphicPolygon yoGraphicYoFramePolygon = new YoGraphicPolygon("YoFramePolygon", yoFramePolygon,
                                   yoFramePolygonPosition, yoFramePolygonOrientation, 1.0, YoAppearance.DarkBlue());

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us.ihmc.graphicsDescription.yoGraphics.YoGraphicPolygon.()方法的使用及代码示例

YoGraphicPolygon.<init>介绍

代码示例