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

YoGraphicPosition.<init>介绍

暂无

代码示例

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

private void createABall(String name, int i, double sizeInMeters, AppearanceDefinition appearance, YoVariableRegistry registry)
{
 YoFramePoint yoFramePoint = new YoFramePoint(name + i, "", ReferenceFrame.getWorldFrame(), registry);
 Double scale = new Double(sizeInMeters);
 YoGraphicPosition newPosition = new YoGraphicPosition(name + i, yoFramePoint, scale, appearance);
 dynamicGraphicPositions.add(newPosition);
}

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

private static YoGraphicPosition yoGraphicPositionFromMessage(String name, YoVariable<?>[] vars, double[] consts, AppearanceDefinition appearance)
{
 return new YoGraphicPosition(name, (YoDouble) vars[0], (YoDouble) vars[1], (YoDouble) getVariableOrNull(vars, 2), consts[0], appearance,
                YoGraphicPosition.GraphicType.values()[(int) (double) consts[1]]);
}

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

public BagOfBalls(double sizeInMeters, String name, List<AppearanceDefinition> appearances, GraphicType graphicType, YoVariableRegistry parentRegistry,
         YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoVariableRegistry registry = new YoVariableRegistry(name + "Balls");
 for (int i = 0; i < appearances.size(); i++)
 {
   YoFramePoint3D yoFramePoint = new YoFramePoint3D(name + i, "", worldFrame, registry);
   YoGraphicPosition newPosition;
   if (graphicType != null)
    newPosition = new YoGraphicPosition(name + i, yoFramePoint, sizeInMeters, appearances.get(i), graphicType);
   else
    newPosition = new YoGraphicPosition(name + i, yoFramePoint, sizeInMeters, appearances.get(i));
   yoGraphicPositions.add(newPosition);
 }
 index = 0;
 registerYoGraphics(name, registry, parentRegistry, yoGraphicsListRegistry);
 if (graphicType != null)
   registerArtifacts(name, yoGraphicsListRegistry);
 parentRegistry.addChild(registry);
}

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

public PlanarRegionBaseOfCliffAvoider(YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 parentRegistry.addChild(registry);
 
 if (yoGraphicsListRegistry == null)
 {
   visualize = false;
 }
 if (visualize)
 {
   beforeAdjustmentPosition = new YoGraphicPosition("beforeAdjustmentPosition", "", registry, 0.02, YoAppearance.Red());
   afterAdjustmentPosition = new YoGraphicPosition("afterAdjustmentPosition", "", registry, 0.02, YoAppearance.Green());
   yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), beforeAdjustmentPosition);
   yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), afterAdjustmentPosition);
 }
 else
 {
   beforeAdjustmentPosition = null;
   afterAdjustmentPosition = null;
 }
}

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

public void createVisualizerForConstantCMPs(YoGraphicsList yoGraphicsList, ArtifactList artifactList)
{
 for (int i = 0; i < entryCMPs.size(); i++)
 {
   YoGraphicPosition entryCMPViz = new YoGraphicPosition("Entry CMP" + i, entryCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(),
      GraphicType.SOLID_BALL);
   yoGraphicsList.add(entryCMPViz);
   artifactList.add(entryCMPViz.createArtifact());
 }
 for (int i = 0; i < exitCMPs.size(); i++)
 {
   YoGraphicPosition exitCMPViz = new YoGraphicPosition("Exit CMP" + i, exitCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(),
      GraphicType.BALL);
   yoGraphicsList.add(exitCMPViz);
   artifactList.add(exitCMPViz.createArtifact());
 }
}

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

public void createVisualizers(YoGraphicsList yoGraphicsList, ArtifactList artifactList)
{
 YoGraphicPosition startOfSplineICPViz = new YoGraphicPosition("singleSupportInitialSplineICP", yoStartOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(startOfSplineICPViz);
 artifactList.add(startOfSplineICPViz.createArtifact());
 YoGraphicPosition endOfSplineICPViz = new YoGraphicPosition("singleSupportFinalSplineICP", yoEndOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.BALL);
 yoGraphicsList.add(endOfSplineICPViz);
 artifactList.add(endOfSplineICPViz.createArtifact());
}

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

public ContactPointVisualizer(ArrayList<? extends PlaneContactState> contactStates, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.contactStates = contactStates;
 int totalNumberOfContactPoints = 0;
 for (int i = 0; i < contactStates.size(); i++)
   totalNumberOfContactPoints += contactStates.get(i).getTotalNumberOfContactPoints();
 maxNumberOfDynamicGraphicPositions = totalNumberOfContactPoints;
 for (int i = 0; i < maxNumberOfDynamicGraphicPositions; i++)
 {
   YoFramePoint contactPointWorld = new YoFramePoint("contactPoint" + i, worldFrame, this.registry);
   contactPointsWorld.add(contactPointWorld);
   YoGraphicPosition dynamicGraphicPosition = new YoGraphicPosition("contactViz" + i, contactPointWorld, 0.01, YoAppearance.Crimson());
   dynamicGraphicPositions.add(dynamicGraphicPosition);
   yoGraphicsListRegistry.registerYoGraphic("contactPoints", dynamicGraphicPosition);
   YoFrameVector normalVector = new YoFrameVector("contactNormal" + i, worldFrame, registry);
   normalVectors.add(normalVector);
   YoGraphicVector dynamicGraphicVector = new YoGraphicVector("contactNormalViz" + i, contactPointWorld, normalVector, YoAppearance.Crimson());
   dynamicGraphicVectors.add(dynamicGraphicVector);
   yoGraphicsListRegistry.registerYoGraphic("contactPoints", dynamicGraphicVector);
 }
 parentRegistry.addChild(registry);
}

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

private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName());
 ArtifactList artifactList = new ArtifactList(getClass().getSimpleName());
 YoGraphicPosition previousExitCMP = new YoGraphicPosition("previousExitCMP", previousStanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition entryCMP = new YoGraphicPosition("entryCMP", stanceEntryCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition exitCMP = new YoGraphicPosition("exitCMP", stanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition finalICP = new YoGraphicPosition("finalICP", this.finalICP, 0.005, YoAppearance.Black(), GraphicType.SOLID_BALL);
 yoGraphicsList.add(finalICP);
 artifactList.add(previousExitCMP.createArtifact());
 artifactList.add(entryCMP.createArtifact());
 artifactList.add(exitCMP.createArtifact());
 artifactList.add(finalICP.createArtifact());
 artifactList.setVisible(visualize);
 yoGraphicsList.setVisible(visualize);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

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

private void setupVisualization(String prefix, YoGraphicsListRegistry graphicsListRegistry, YoVariableRegistry registry)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(prefix + "VisGraph");
 for (int i = 0; i < bodyPathPointsForVisualization; i++)
 {
   YoFramePoint3D point = new YoFramePoint3D(prefix + "BodyPathPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   point.setToNaN();
   bodyPathPoints.add(point);
   YoGraphicPosition pointVisualization = new YoGraphicPosition(prefix + "BodyPathPoint" + i, point, 0.02, YoAppearance.Yellow());
   yoGraphicsList.add(pointVisualization);
 }
 graphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
}

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

public CenterOfPressureVisualizer(Map<RigidBody, FootSwitchInterface> footSwitches,
   YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry)
{
 this.footSwitches = footSwitches;
 footRigidBodies = footSwitches.keySet();
 for (RigidBody rigidBody : footRigidBodies)
 {
   String rigidBodyName = rigidBody.getName();
   rigidBodyName = WordUtils.capitalize(rigidBodyName);
   YoFramePoint rawCoPPositionInWorld = new YoFramePoint("raw" + rigidBodyName + "CoPPositionsInWorld", worldFrame, registry);
   footRawCoPPositionsInWorld.put(rigidBody, rawCoPPositionInWorld);
   YoGraphicPosition copDynamicGraphic = new YoGraphicPosition("Meas " + rigidBodyName + "CoP", rawCoPPositionInWorld, 0.008, YoAppearance.DarkRed(), GraphicType.DIAMOND);
   YoArtifactPosition copArtifact = copDynamicGraphic.createArtifact();
   yoGraphicsListRegistry.registerArtifact("StateEstimator", copArtifact);
   footList.add(rigidBody);
 }
 overallRawCoPPositionInWorld = new YoFramePoint("overallRawCoPPositionInWorld", worldFrame, registry);
 YoGraphicPosition overallRawCoPDynamicGraphic = new YoGraphicPosition("Meas CoP", overallRawCoPPositionInWorld, 0.015, YoAppearance.DarkRed(), GraphicType.DIAMOND);
 YoArtifactPosition overallRawCoPArtifact = overallRawCoPDynamicGraphic.createArtifact();
 overallRawCoPArtifact.setVisible(false);
 yoGraphicsListRegistry.registerArtifact("StateEstimator", overallRawCoPArtifact);
 parentRegistry.addChild(registry);
}

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

public LineTrajectory(double controlDT, Tuple3DReadOnly initialPosition, YoVariableRegistry parentRegistry, YoGraphicsListRegistry graphicsListRegistry)
{
 this.controlDT = controlDT;
 Vector3D initialPositionA = new Vector3D(initialPosition);
 Vector3D initialPositionB = new Vector3D(initialPosition);
 initialPositionA.addX(0.025);
 initialPositionB.addX(-0.025);
 pointA = new ParameterVector3D("PointA", initialPositionA, registry);
 pointB = new ParameterVector3D("PointB", initialPositionB, registry);
 frequency = new DoubleParameter("Frequency", registry, 0.25);
 maxVelocity = new DoubleParameter("MaxVelocity", registry, 0.1);
 limitedPointA = new RateLimitedYoFramePoint("PointALim", "", registry, maxVelocity, controlDT, createFrameTuple(ReferenceFrame.getWorldFrame(), pointA));
 limitedPointB = new RateLimitedYoFramePoint("PointBLim", "", registry, maxVelocity, controlDT, createFrameTuple(ReferenceFrame.getWorldFrame(), pointB));
 pointAViz = new YoGraphicPosition("PointAViz", limitedPointA, 0.025, YoAppearance.Blue());
 pointBViz = new YoGraphicPosition("PointBViz", limitedPointB, 0.025, YoAppearance.Blue());
 graphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), pointAViz);
 graphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), pointBViz);
 parentRegistry.addChild(registry);
}

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

@Override
  public YoGraphicPosition duplicate(YoVariableRegistry newRegistry)
  {
   YoDouble x = (YoDouble) newRegistry.getVariable(this.x.getFullNameWithNameSpace());
   YoDouble y = (YoDouble) newRegistry.getVariable(this.y.getFullNameWithNameSpace());
   YoDouble z = (YoDouble) newRegistry.getVariable(this.z.getFullNameWithNameSpace());
   return new YoGraphicPosition(getName(), x, y, z, scale, appearance, type);
  }
}

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

public static void addGoalViz(FramePose3D goalPose, YoVariableRegistry registry, YoGraphicsListRegistry graphicsListRegistry)
  {
   YoFramePoint3D yoGoal = new YoFramePoint3D("GoalPosition", worldFrame, registry);
   yoGoal.set(goalPose.getPosition());
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("GoalViz", yoGoal, 0.05, YoAppearance.Yellow()));
   YoFramePoint3D yoStart = new YoFramePoint3D("StartPosition", worldFrame, registry);
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("StartViz", yoStart, 0.05, YoAppearance.Blue()));
   PoseReferenceFrame goalFrame = new PoseReferenceFrame("GoalFrame", goalPose);
   FrameVector3D goalOrientation = new FrameVector3D(goalFrame, 0.5, 0.0, 0.0);
   goalOrientation.changeFrame(worldFrame);
   YoFrameVector3D yoGoalOrientation = new YoFrameVector3D("GoalVector", worldFrame, registry);
   yoGoalOrientation.set(goalOrientation);
//      graphicsListRegistry.registerYoGraphic("vizOrientation", new YoGraphicVector("GoalOrientationViz", yoGoal, yoGoalOrientation, 1.0, YoAppearance.White()));
  }

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

private void addSupportBaseGraphics(YoGraphicsListRegistry yoGraphicsListRegistry,YoFramePoint3D[] basePoints, ArrayList<YoGraphic> basePointsList, ArrayList<YoGraphic> linesList, String namePrefix,AppearanceDefinition appearance)
{
 AppearanceDefinition[] colors = { YoAppearance.Red(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Yellow() };
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix + "Points");
 for (int i = 0; i < basePoints.length; i++)
 {
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, basePoints[i], 0.01, colors[i]);
   yoGraphicsList.add(baseControlPointViz);
   basePointsList.add(baseControlPointViz);
      for (int j = i + 1; j < basePoints.length; j++)
   {
    YoGraphicLineSegment yoGraphicLineSegment = new YoGraphicLineSegment(namePrefix + "SupportLine", basePoints[i], basePoints[j],
       1.0, appearance, false);
    yoGraphicsList.add(yoGraphicLineSegment);
    linesList.add(yoGraphicLineSegment);
   }
 }
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsList.hideYoGraphics();
}

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

private void addSupportBaseGraphics(YoGraphicsListRegistry yoGraphicsListRegistry,YoFramePoint[] basePoints, ArrayList<YoGraphic> basePointsList, ArrayList<YoGraphic> linesList, String namePrefix,AppearanceDefinition appearance)
{
 AppearanceDefinition[] colors = { YoAppearance.Red(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Yellow() };
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix + "Points");
 for (int i = 0; i < basePoints.length; i++)
 {
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, basePoints[i], 0.01, colors[i]);
   yoGraphicsList.add(baseControlPointViz);
   basePointsList.add(baseControlPointViz);
      for (int j = i + 1; j < basePoints.length; j++)
   {
    YoGraphicLineSegment dynamicGraphicLineSegment = new YoGraphicLineSegment(namePrefix + "SupportLine", basePoints[i], basePoints[j],
       1.0, appearance, false);
    yoGraphicsList.add(dynamicGraphicLineSegment);
    linesList.add(dynamicGraphicLineSegment);
   }
 }
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsList.hideYoGraphics();
}

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

private void setupPositionGraphics()
{
 YoFramePoint3D yoCoMPosition = new YoFramePoint3D("CoMPositionForViz", worldFrame, registry);
 comPositionGraphic = new YoGraphicPosition("CoMPositionGraphic", yoCoMPosition, trackBallSize * 2, new YoAppearanceRGBColor(comPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoICPPosition = new YoFramePoint3D("ICPPositionForViz", worldFrame, registry);
 icpPositionGraphic = new YoGraphicPosition("ICPPositionGraphic", yoICPPosition, trackBallSize * 2, new YoAppearanceRGBColor(icpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCMPPosition = new YoFramePoint3D("CMPPositionForViz", worldFrame, registry);
 cmpPositionGraphic = new YoGraphicPosition("CMPPositionGraphic", yoCMPPosition, trackBallSize * 2, new YoAppearanceRGBColor(cmpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCoPPosition = new YoFramePoint3D("CoPPositionForViz", worldFrame, registry);
 copPositionGraphic = new YoGraphicPosition("CoPPositionGraphic", yoCoPPosition, trackBallSize * 2, new YoAppearanceRGBColor(copPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 graphicsListRegistry.registerYoGraphic("GraphicPositions", comPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", comPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", icpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", icpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", cmpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", cmpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", copPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", copPositionGraphic.createArtifact());
}

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

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2d yoFootSupportPolygon = new YoFrameConvexPolygon2d(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

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

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2D yoFootSupportPolygon = new YoFrameConvexPolygon2D(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

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

public MomentumVisualizer(String name, TwistCalculator twistCalculator, YoVariableRegistry registry, YoGraphicsListRegistry graphicsRegistry,
   RigidBody... rigidBodies)
{
 comCalculator = new CenterOfMassCalculator(rigidBodies, ReferenceFrame.getWorldFrame());
 momentumCalculator = new MomentumCalculator(twistCalculator, rigidBodies);
 centerOfMass = new YoFramePoint(name + "CoM", ReferenceFrame.getWorldFrame(), registry);
 linearMomentum = new YoFrameVector(name + "Momentum", ReferenceFrame.getWorldFrame(), registry);
 YoGraphicPosition yoCoMGraphics = new YoGraphicPosition(name + "CoM", centerOfMass, 0.05, YoAppearance.Brown());
 YoGraphicVector yoMomentumGraphics = new YoGraphicVector(name + "Momentum", centerOfMass, linearMomentum, 0.05, YoAppearance.Brown());
 graphicsRegistry.registerYoGraphic(name, yoCoMGraphics);
 graphicsRegistry.registerYoGraphic(name, yoMomentumGraphics);
}

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

public void createAvailableContactPoints(int groupIdentifier, int totalContactPointsAvailable, double forceVectorScale, boolean addYoGraphicForceVectorsForceVectors)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = null;
 if (addYoGraphicForceVectorsForceVectors) yoGraphicsListRegistry = new YoGraphicsListRegistry();
 for (int i = 0; i < totalContactPointsAvailable; i++)
 {
   GroundContactPoint contactPoint = new GroundContactPoint("contact_" + name + "_" + i, robot.getRobotsYoVariableRegistry());
   getJoint().addGroundContactPoint(groupIdentifier, contactPoint);
   allGroundContactPoints.add(contactPoint);
   YoBoolean contactAvailable = new YoBoolean("contact_" + name + "_" + i + "_avail", robot.getRobotsYoVariableRegistry());
   contactAvailable.set(true);
   contactsAvailable.add(contactAvailable);
   if (addYoGraphicForceVectorsForceVectors)
   {
    YoGraphicPosition yoGraphicPosition = new YoGraphicPosition(name + "Point" + i, contactPoint.getYoPosition(), 0.02, YoAppearance.Green());
    YoGraphicVector yoGraphicVector = new YoGraphicVector(name + "Force" + i, contactPoint.getYoPosition(), contactPoint.getYoForce(), forceVectorScale, YoAppearance.Green());
    yoGraphicsListRegistry.registerYoGraphic(name, yoGraphicPosition);
    yoGraphicsListRegistry.registerYoGraphic(name, yoGraphicVector);
   }
 }
 if (addYoGraphicForceVectorsForceVectors)
 {
   robot.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
}