本文整理了Java中us.ihmc.yoVariables.variable.YoFrameConvexPolygon2D类的一些代码示例，展示了YoFrameConvexPolygon2D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。YoFrameConvexPolygon2D类的具体详情如下：
包路径：us.ihmc.yoVariables.variable.YoFrameConvexPolygon2D
类名称：YoFrameConvexPolygon2D

YoFrameConvexPolygon2D介绍

[英]FixedFrameConvexPolygon2DBasics implementation which components vertices are baked with YoFramePoint2Ds.
[中]FixedFrameConvexPolygon2DBasics实现了哪些组件顶点是用YoFramePoint2Ds烘焙的。

代码示例

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

private void addPolygonToArtifacts(String name, ConvexPolygon2D polygon, Color color)
{
 YoFrameConvexPolygon2D yoPlanePolygon = new YoFrameConvexPolygon2D(name + "Polygon", worldFrame, 10, registry);
 artifacts.add(new YoArtifactPolygon(name, yoPlanePolygon , color, false));
 yoPlanePolygon.set(polygon);
}

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

private YoGraphicPolygon(String name, YoFrameConvexPolygon2D yoFrameConvexPolygon2d, YoFramePoint3D framePoint, YoFrameYawPitchRoll yawPitchRoll,
            YoFrameQuaternion quaternion, double scale, double height, AppearanceDefinition appearance)
{
 super(name, framePoint, yawPitchRoll, quaternion, scale);
 if (yoFrameConvexPolygon2d.getNumberOfVertices() <= 0)
   yoFrameConvexPolygon2d.set(Vertex2DSupplier.emptyVertex2DSupplier());
 this.yoFrameConvexPolygon2d = yoFrameConvexPolygon2d;
 this.appearance = appearance;
 this.height = height;
 verticesToDisplay = new ArrayList<>(yoFrameConvexPolygon2d.getMaxNumberOfVertices());
 graphics3dObject = new Graphics3DObject();
 graphics3dObject.setChangeable(true);
 MeshDataHolder meshDataHolder = MeshDataGenerator.ExtrudedPolygon(yoFrameConvexPolygon2d, height);
 instruction = new Graphics3DAddMeshDataInstruction(meshDataHolder, appearance);
 graphics3dObject.addInstruction(instruction);
}

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

/** {@inheritDoc} */
@Override
public void clearAndUpdate()
{
 clear();
 isUpToDate = true;
}

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

/** {@inheritDoc} */
@Override
public void addVertexMatchingFrame(ReferenceFrame referenceFrame, Point2DReadOnly vertex, boolean checkIfTransformInXYPlane)
{
 // Check for the trivial case: the geometry is already expressed in the desired frame.
 if (getReferenceFrame() == referenceFrame)
 {
   addVertex(vertex);
 }
 else
 {
   referenceFrame.getTransformToDesiredFrame(transformToDesiredFrame, getReferenceFrame());
   addVertex(vertex);
   getVertexUnsafe(getNumberOfVertices() - 1).applyTransform(transformToDesiredFrame, checkIfTransformInXYPlane);
 }
}

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

@Override
public YoVariable<?>[] getVariables()
{
 YoVariable<?>[] vars = new YoVariable[1 + 2 * convexPolygon.getMaxNumberOfVertices()];
 int i = 0;
 vars[i++] = convexPolygon.getYoNumberOfVertices();
 for (YoFramePoint2D p : convexPolygon.getVertexBuffer())
 {
   vars[i++] = p.getYoX();
   vars[i++] = p.getYoY();
 }
 return vars;
}

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

for (int i = 0; i < maxPolygonsToVisualize; i++)
 YoFrameConvexPolygon2D polygon = new YoFrameConvexPolygon2D("Polygon" + i, worldFrame, maxPolygonsVertices, registry);
 YoFramePoseUsingYawPitchRoll pose = new YoFramePoseUsingYawPitchRoll("PolygonPose" + i, worldFrame, registry);
 pose.setToNaN();
   if (planarRegion.getConvexHull().getNumberOfVertices() > visiblePolygons.get(polygonIdx).getMaxNumberOfVertices())
   pose.set(transformToWorld);
   visiblePolygonPoses.get(polygonIdx).set(pose);
   visiblePolygons.get(polygonIdx).set(planarRegion.getConvexHull());

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

public YoGraphicPolygon(String name, YoFramePose3D framePose, int maxNumberOfVertices, YoVariableRegistry registry, double scale,
            AppearanceDefinition appearance)
{
 this(name, new YoFrameConvexPolygon2D(name + "ConvexPolygon2d", worldFrame, maxNumberOfVertices, registry), framePose, scale, appearance);
}

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

public void updateConvexPolygon2d(ConvexPolygon2DReadOnly convexPolygon2d)
{
 yoFrameConvexPolygon2d.set(convexPolygon2d);
 update();
}

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

YoFrameConvexPolygon2D yoFrameConvexPolygon2d = new YoFrameConvexPolygon2D("boo", "yaw", ReferenceFrame.getWorldFrame(), 4,
                                      new YoVariableRegistry("bah"));
yoFrameConvexPolygon2d.set(poly);
  FramePoint2DReadOnly convexPoint = yoFrameConvexPolygon2d.getVertex(i);
  polyPoint.checkReferenceFrameMatch(convexPoint);
  assertTrue("not equal expected: " + polyPoint + " actual: " + convexPoint, MathTools.epsilonEquals(polyPoint.getX(), convexPoint.getX(), 1e-7));
yoFrameConvexPolygon2d.set(poly);
  FramePoint2DReadOnly convexPoint = yoFrameConvexPolygon2d.getVertex(i);
  FramePoint2D polyPoint = new FramePoint2D(expected.getVertex(i));
  assertTrue("not equal expected: " + polyPoint + " actual: " + convexPoint, polyPoint.epsilonEquals(convexPoint, 1e-7));

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

private YoGraphicPolygon(String name, YoVariable<?>[] yoVariables, double[] constants, AppearanceDefinition appearance)
{
 /*
  * 2 * (int) constants[1] + 1 => constants[1] is the size of the 2D vertex
  * buffer so we have 2 * YoVariables, the "+ 1" is for the YoInteger that
  * keeps track of the actual polygon size.
  */
 super(name, Arrays.copyOfRange(yoVariables, 2 * (int) constants[1] + 1, yoVariables.length), constants[0]);
 int constantIndex = 1; // 0 corresponds to the scale factor
 int vertexBufferSize = (int) constants[constantIndex++];
 // Ensuring backward compatibility
 this.height = constants.length == 3 ? constants[constantIndex++] : DEFAULT_HEIGHT;
 int yoIndex = 0;
 YoInteger numberOfVertices = (YoInteger) yoVariables[yoIndex++];
 List<YoFramePoint2D> yoFrameVertices = new ArrayList<>();
 while (yoFrameVertices.size() < vertexBufferSize)
 {
   YoDouble xVariable = (YoDouble) yoVariables[yoIndex++];
   YoDouble yVariable = (YoDouble) yoVariables[yoIndex++];
   yoFrameVertices.add(new YoFramePoint2D(xVariable, yVariable, worldFrame));
 }
 yoFrameConvexPolygon2d = new YoFrameConvexPolygon2D(yoFrameVertices, numberOfVertices, worldFrame);
 verticesToDisplay = new ArrayList<>(yoFrameConvexPolygon2d.getMaxNumberOfVertices());
 this.appearance = appearance;
 graphics3dObject = new Graphics3DObject();
 graphics3dObject.setChangeable(true);
 MeshDataHolder meshDataHolder = MeshDataGenerator.ExtrudedPolygon(yoFrameConvexPolygon2d, height);
 instruction = new Graphics3DAddMeshDataInstruction(meshDataHolder, appearance);
 graphics3dObject.addInstruction(instruction);
}

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

@Override
  public void notifyOfVariableChange(YoVariable<?> v)
  {
   FramePoint2D icp = new FramePoint2D(yoICP);
   RobotSide supportSide = yoSupportSide.getEnumValue();
   yoFootPolygons.get(supportSide.getOppositeSide()).clear();
   footPolygons.get(supportSide).changeFrame(worldFrame);
   yoFootPolygons.get(supportSide).set(footPolygons.get(supportSide));
   footPolygons.get(supportSide).changeFrame(ankleZUpFrames.get(supportSide));
   oneStepCaptureRegionCalculator.calculateCaptureRegion(supportSide.getOppositeSide(), swingTimeRemaining.getDoubleValue(), icp, omega0,
      footPolygons.get(supportSide));
   FrameConvexPolygon2D frameConvexPolygon2d = new FrameConvexPolygon2D();
   frameConvexPolygon2d.setIncludingFrame(oneStepCaptureRegionCalculator.getCaptureRegion());
   frameConvexPolygon2d.changeFrame(worldFrame);
   yoCaptureRegion.set(frameConvexPolygon2d);
   simulationOverheadPlotter.update();
  }
};

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

@Override
public void update()
{
 verticesToDisplay.clear();
 for (int i = yoFrameConvexPolygon2d.getNumberOfVertices() - 1; i >= 0; i--)
 {
   /*
   * Using the unsafe getter as this instance of the polygon might not be
   * recognized as up-to-date. This can occur when displaying a remote
   * YoGraphic. In such scenario, the coordinates of the vertices are
   * updated under the hood and this polygon only serves as a data
   * holder.
   */
   verticesToDisplay.add(yoFrameConvexPolygon2d.getVertexUnsafe(i));
 }
 instruction.setMesh(MeshDataGenerator.ExtrudedPolygon(verticesToDisplay, height));
}

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

@Override
public void draw(Graphics2DAdapter graphics)
{
 graphics.setColor(color);
 graphics.setStroke(stroke);
 tempConvexPolygon.clear();
 for (int i = 0; i < convexPolygon.getNumberOfVertices(); i++)
 { // Accessing directly the vertex buffer to avoid internal checks. Due asynchronous read/write, these check can throw exceptions.
   tempConvexPolygon.addVertex(convexPolygon.getVertexBuffer().get(i));
 }
 tempConvexPolygon.update();
 if (fill)
 {
   graphics.drawPolygonFilled(tempConvexPolygon);
 }
 else
 {
   graphics.drawPolygon(tempConvexPolygon);
 }
}

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

YoFrameConvexPolygon2D defaultPolygon = new YoFrameConvexPolygon2D("DefaultFootPolygon", worldFrame, 4, registry);
defaultPolygon.set(PlannerTools.createDefaultFootPolygon());
for (int i = 0; i < maxPolygonsToVisualize; i++)
 YoFrameConvexPolygon2D polygon = new YoFrameConvexPolygon2D("Polygon" + i, worldFrame, maxPolygonsVertices, registry);
 YoFramePoseUsingYawPitchRoll pose = new YoFramePoseUsingYawPitchRoll("PolygonPose" + i, worldFrame, registry);
 pose.setToNaN();
   if (planarRegion.getConvexHull().getNumberOfVertices() > visiblePolygons.get(polygonIdx).getMaxNumberOfVertices())
   pose.set(transformToWorld);
   visiblePolygonPoses.get(polygonIdx).set(pose);
   visiblePolygons.get(polygonIdx).set(planarRegion.getConvexHull());

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

public YoGraphicPolygon(String name, YoFramePoseUsingYawPitchRoll framePose, int maxNumberOfVertices, YoVariableRegistry registry, double scale,
            AppearanceDefinition appearance)
{
 this(name, new YoFrameConvexPolygon2D(name + "ConvexPolygon2d", worldFrame, maxNumberOfVertices, registry), framePose, scale, appearance);
}

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

public void updateConvexPolygon2d(FrameConvexPolygon2DReadOnly frameConvexPolygon2d)
{
 yoFrameConvexPolygon2d.set(frameConvexPolygon2d);
 update();
}

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/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-graphics-description

public YoGraphicPolygon(String name, int maxNumberOfVertices, YoVariableRegistry registry, boolean useYawPitchRoll, double scale,
            AppearanceDefinition appearance)
{
 this(name, new YoFrameConvexPolygon2D(name + "ConvexPolygon2d", worldFrame, maxNumberOfVertices, registry), registry, useYawPitchRoll, scale, appearance);
}

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

@Override
public void run()
{
 int i = 0;
 while (i++ < 20)
 {
   quickPause();
   ConvexPolygon2D newPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(secondPointList));
   yoPolygon.set(newPolygon);
   ConvexPolygon2D newYoPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(pointList));
   yoFramePolygon.set(newYoPolygon);
   yoGraphicYoFramePolygon.update();
   Vector3D eulerAngles = new Vector3D();
   yoFramePolygonOrientation.getEulerAngles(eulerAngles);
   eulerAngles.setY(eulerAngles.getY() + 0.1);
   yoFramePolygonOrientation.setEulerAngles(eulerAngles);
   yoGraphicText.setText("Hello");
   yoGraphicText.update();
   scs.tickAndUpdate();
   quickPause();
   newPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(pointList));
   yoPolygon.set(newPolygon);
   yoGraphicYoFramePolygon.update();
   newYoPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(secondPointList));
   yoFramePolygon.set(newYoPolygon);
   yoGraphicText.setText("GoodBye");
   yoGraphicText.update();
   scs.tickAndUpdate();
 }
}