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

YoGraphicsListRegistry.registerArtifact介绍

暂无

代码示例

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

public CaptureRegionVisualizer(OneStepCaptureRegionCalculator captureRegionCalculator, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.captureRegionCalculator = captureRegionCalculator;
 yoCaptureRegionPolygon = new YoFrameConvexPolygon2d(caption, "", worldFrame, 30, registry);
 YoArtifactPolygon dynamicGraphicYoPolygonArtifact = new YoArtifactPolygon(caption, yoCaptureRegionPolygon, color, false);
 yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), dynamicGraphicYoPolygonArtifact);
 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 actualEndOfStateICP = new YoGraphicPosition("actualEndOfStateICP", this.actualEndOfStateICP, 0.005, YoAppearance.Aquamarine(),
    GraphicType.SOLID_BALL);
 YoGraphicPosition nominalReferenceICP = new YoGraphicPosition("nominalReferenceICP", this.nominalReferenceICP, 0.01, YoAppearance.LightYellow(),
    GraphicType.BALL);
 YoGraphicPosition nominalEndOfStateICP = new YoGraphicPosition("nominalEndOfStateICP", this.nominalEndOfStateICP, 0.01, YoAppearance.Green(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(actualEndOfStateICP);
 yoGraphicsList.add(nominalReferenceICP);
 yoGraphicsList.add(nominalEndOfStateICP);
 artifactList.add(actualEndOfStateICP.createArtifact());
 artifactList.add(nominalReferenceICP.createArtifact());
 artifactList.add(nominalEndOfStateICP.createArtifact());
 yoGraphicsList.setVisible(visualize);
 artifactList.setVisible(visualize);
 YoGraphicPosition referenceICP = new YoGraphicPosition("controllerReferenceICP", controllerReferenceICP, 0.005, YoAppearance.Yellow(), GraphicType.BALL_WITH_CROSS);
 YoGraphicPosition referenceCMP = new YoGraphicPosition("controllerReferenceCMP", controllerReferenceCMP, 0.005, YoAppearance.Beige(), GraphicType.BALL_WITH_CROSS);
 String name = "ICPOptimization";
 yoGraphicsListRegistry.registerArtifact(name, referenceICP.createArtifact());
 yoGraphicsListRegistry.registerArtifact(name, referenceCMP.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic(name, referenceICP);
 yoGraphicsListRegistry.registerYoGraphic(name, referenceCMP);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

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

private void createGraphicsAndArtifacts(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 yoGraphicsListRegistry.registerYoGraphic("Frames", leftMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("Frames", rightMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("target", targetViz);
 yoGraphicsListRegistry.registerArtifact("target", targetViz.createArtifact());
 yoGraphicsListRegistry.registerArtifact("centroidViz", centroidViz.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic("nominalYaw", nominalYawGraphic);
 YoArtifactPolygon supportPolygonArtifact = new YoArtifactPolygon("quadSupportPolygonArtifact", supportPolygon, Color.blue, false);
 YoArtifactPolygon currentTriplePolygonArtifact = new YoArtifactPolygon("currentTriplePolygonArtifact", currentTriplePolygon, Color.GREEN, false);
 yoGraphicsListRegistry.registerArtifact("nominalYawArtifact", nominalYawArtifact);
 yoGraphicsListRegistry.registerArtifact("supportPolygon", supportPolygonArtifact);
 yoGraphicsListRegistry.registerArtifact("currentTriplePolygon", currentTriplePolygonArtifact);
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
}

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

public SmartCMPProjector(YoGraphicsListRegistry graphicsListRegistry, YoVariableRegistry parentRegistry)
{
 activeProjection.set(ProjectionMethod.NONE);
 if (parentRegistry != null)
   parentRegistry.addChild(registry);
 if (graphicsListRegistry != null)
 {
   YoArtifactPosition desiredCMPViz = new YoArtifactPosition("Desired CMP Position", yoDesiredCMP, GraphicType.SOLID_BALL, DarkRed().getAwtColor(),
      0.008);
   graphicsListRegistry.registerArtifact(getClass().getSimpleName(), desiredCMPViz);
   YoArtifactPosition projectedCMPViz = new YoArtifactPosition("Projected CMP Position", yoProjectedCMP, GraphicType.BALL_WITH_ROTATED_CROSS,
      DarkRed().getAwtColor(), 0.01);
   graphicsListRegistry.registerArtifact(getClass().getSimpleName(), projectedCMPViz);
   YoArtifactPolygon projectionAreaViz = new YoArtifactPolygon("CMP Projection Area", yoProjectionArea, Blue().getAwtColor(), false);
   graphicsListRegistry.registerArtifact(getClass().getSimpleName(), projectionAreaViz);
 }
}

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

public FootstepAdjusterVisualizer(FootstepAdjustor footstepAdjustor, YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry)
{
 this.footstepAdjustor = footstepAdjustor;
 String nextFootstepCaption = "DesiredTouchdown";
 yoNextFootstepPolygon = new YoFrameConvexPolygon2d(nextFootstepCaption, "", worldFrame, 8, registry);
 nextFootstepPolygon = new FrameConvexPolygon2d(worldFrame);
 nextFootstepPolygonArtifact = new YoArtifactPolygon(nextFootstepCaption, yoNextFootstepPolygon, colorDefault, false);
 nextFootstepPolygonArtifact.setVisible(false);
 yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), nextFootstepPolygonArtifact);
 parentRegistry.addChild(registry);
}

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/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-simulation-toolkit

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, FloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector
    .createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED, 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

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

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

contactVector.setColor(Color.BLUE);
   contactVector.setLevel(4);
   graphicsListRegistry.registerArtifact("Contact State", contactVector);
PolygonArtifact polygonViz = new PolygonArtifact("SupportPolygon", true, Color.LIGHT_GRAY, supportPolygon);
polygonViz.setLevel(1);
graphicsListRegistry.registerArtifact("Contact State", polygonViz);
  graphicsListRegistry.registerArtifact("CoPs", copViz);
   desiredForce.setColor(Color.RED);
   desiredForce.setLevel(2);
   graphicsListRegistry.registerArtifact("Forces", desiredForce);
   vectorCount++;
   achievedForce.setColor(Color.GREEN);
   achievedForce.setLevel(3);
   graphicsListRegistry.registerArtifact("Forces", achievedForce);
   vectorCount++;

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

YoArtifactPosition artifact = copViz.createArtifact();
artifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, artifact);

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/ihmc-path-planning-test

public static void showPlotter(WaypointDefinedBodyPathPlanner plan, String testName)
{
 int markers = 5;
 YoVariableRegistry registry = new YoVariableRegistry(testName);
 YoGraphicsListRegistry graphicsList = new YoGraphicsListRegistry();
 for (int i = 0; i < markers; i++)
 {
   double alpha = (double) i / (double) (markers - 1);
   Pose2D pose = new Pose2D();
   plan.getPointAlongPath(alpha, pose);
   YoFramePoint3D yoStartPoint = new YoFramePoint3D("PointStart" + i, worldFrame, registry);
   yoStartPoint.set(pose.getX(), pose.getY(), 0.0);
   double length = 0.1;
   YoFrameVector3D direction = new YoFrameVector3D("Direction" + i, worldFrame, registry);
   direction.set(length * Math.cos(pose.getYaw()), length * Math.sin(pose.getYaw()), 0.0);
   YoFramePoint3D yoEndPoint = new YoFramePoint3D("PointEnd" + i, worldFrame, registry);
   yoEndPoint.set(yoStartPoint);
   yoEndPoint.add(direction);
   YoGraphicPosition poseStartVis = new YoGraphicPosition("PointStart" + i, yoStartPoint, 0.01, YoAppearance.Blue());
   YoGraphicPosition poseEndVis = new YoGraphicPosition("PointEnd" + i, yoEndPoint, 0.01, YoAppearance.Red());
   graphicsList.registerArtifact(testName, poseStartVis.createArtifact());
   graphicsList.registerArtifact(testName, poseEndVis.createArtifact());
 }
 showPlotter(graphicsList, testName);
}

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

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<ArrayList<Point2D>>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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

YoArtifactPosition planePointArtifact = planePointViz.createArtifact();
planePointArtifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, planePointArtifact);
   new YoArtifactLineSegment2d(caption, yoLineOfRotation, Color.GREEN, 0.01, 0.01);
lineOfRotationArtifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, lineOfRotationArtifact);

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

public ExplorationHelper(ContactableFoot contactableFoot, FootControlHelper footControlHelper, String prefix, YoVariableRegistry registry)
{
 footholdExplorationActive = new BooleanYoVariable(prefix + "FootholdExplorationActive", registry);
 timeExploring = new DoubleYoVariable(prefix + "TimeExploring", registry);
 startTime = new DoubleYoVariable(prefix + "StartTime", registry);
 yoCurrentCorner = new IntegerYoVariable(prefix + "CurrentCornerExplored", registry);
 centerOfPressureCommand.setContactingRigidBody(contactableFoot.getRigidBody());
 explorationParameters = footControlHelper.getWalkingControllerParameters().getOrCreateExplorationParameters(registry);
 if (explorationParameters != null)
   copCommandWeight = explorationParameters.getCopCommandWeight();
 else
   copCommandWeight = null;
 soleFrame = footControlHelper.getContactableFoot().getSoleFrame();
 partialFootholdControlModule = footControlHelper.getPartialFootholdControlModule();
 YoGraphicsListRegistry graphicObjectsListRegistry = footControlHelper.getMomentumBasedController().getDynamicGraphicObjectsListRegistry();
 if (graphicObjectsListRegistry != null)
 {
   yoDesiredCop = new YoFramePoint2d(prefix + "DesiredExplorationCop", ReferenceFrame.getWorldFrame(), registry);
   String name = prefix + "Desired Center of Pressure for Exploration";
   YoArtifactPosition artifact = new YoArtifactPosition(name, yoDesiredCop.getYoX(), yoDesiredCop.getYoY(), GraphicType.BALL, Color.BLUE, 0.003);
   graphicObjectsListRegistry.registerArtifact(prefix + getClass().getSimpleName(), artifact);
 }
 else
 {
   yoDesiredCop = null;
 }
}

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

yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), lineOfRotationArtifact);

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

yoGraphicsListRegistry.registerArtifact(prefix + "feetArtifact", footPositionGraphic.createArtifact());