private void registerYoGraphics(String name, YoVariableRegistry registry, YoVariableRegistry parentYoVariableRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { if (yoGraphicsListRegistry != null) { yoGraphicsList = new YoGraphicsList(name + "Balls"); for (YoGraphicPosition yoGraphicPosition : yoGraphicPositions) { yoGraphicsList.add(yoGraphicPosition); } yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); } }
public void update() { for (YoGraphic yoGraphic : yoGraphicsList.getYoGraphics()) { yoGraphic.update(); } }
public void setVisible(boolean visible) { yoGraphicsList.setVisible(visible); } }
private void setupVisualization(String namePrefix, YoGraphicsListRegistry yoGraphicsListRegistry) { YoGraphicsList list = new YoGraphicsList(name); YoGraphicCoordinateSystem desiredPoseViz = new YoGraphicCoordinateSystem(namePrefix + "DesiredPose", yoDesiredPose, 0.3); list.add(desiredPoseViz); yoGraphicsListRegistry.registerYoGraphicsList(list); list.hideYoGraphics(); }
public void registerYoGraphicsList(YoGraphicsList yoGraphicsList) { if (alreadyAddedToSimulationConstructionSet) throw new RuntimeException("Graphics have already been added to the SimulationConstructionSet. Cannot register more objects after this."); if (yoGraphicsLists.contains(yoGraphicsList)) { throw new RuntimeException("Already registered YoGraphicsList " + yoGraphicsList); } checkForRepeatNames(yoGraphicsList); for (YoGraphicsList list : yoGraphicsLists) { if (list.getLabel().equals(yoGraphicsList.getLabel())) { // Combine them: ArrayList<YoGraphic> yoGraphics = yoGraphicsList.getYoGraphics(); list.addAll(yoGraphics); return; } } yoGraphicsLists.add(yoGraphicsList); }
initialPosition.buildUpdatedYoFramePointForVisualizationOnly(), initialDirection.buildUpdatedYoFrameVectorForVisualizationOnly(), 0.2, YoAppearance.BlueViolet()); yoGraphicsList = new YoGraphicsList(namePrefix + "FinalApproachTraj"); yoGraphicsList.add(currentPositionViz); yoGraphicsList.add(initialPositionViz); yoGraphicsList.add(finalPositionViz); yoGraphicsList.add(initialDirectionViz); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); bagOfBalls = new BagOfBalls(numberOfBalls, 0.01, yoGraphicsList.getLabel(), registry, yoGraphicsListRegistry);
private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry) { YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName()); ArtifactList artifactList = new ArtifactList(getClass().getSimpleName()); referenceCMPsCalculator.createVisualizerForConstantCMPs(yoGraphicsList, artifactList); for (int i = 0; i < numberFootstepsToConsider.getIntegerValue() - 1; i++) { YoGraphicPosition icpEarlyCornerPointsViz = new YoGraphicPosition("EntryCornerPoints" + i, entryCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.SOLID_BALL); yoGraphicsList.add(icpEarlyCornerPointsViz); artifactList.add(icpEarlyCornerPointsViz.createArtifact()); YoGraphicPosition lateCornerPointsViz = new YoGraphicPosition("ExitCornerPoints" + i, exitCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.BALL); yoGraphicsList.add(lateCornerPointsViz); artifactList.add(lateCornerPointsViz.createArtifact()); } YoGraphicPosition singleSupportInitialICPViz = new YoGraphicPosition("singleSupportInitialICP", singleSupportInitialICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.SOLID_BALL); yoGraphicsList.add(singleSupportInitialICPViz); artifactList.add(singleSupportInitialICPViz.createArtifact()); YoGraphicPosition singleSupportFinalICPViz = new YoGraphicPosition("singleSupportFinalICP", singleSupportFinalICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.BALL); yoGraphicsList.add(singleSupportFinalICPViz); artifactList.add(singleSupportFinalICPViz.createArtifact()); icpSingleSupportTrajectoryGenerator.createVisualizers(yoGraphicsList, artifactList); artifactList.setVisible(VISUALIZE); yoGraphicsList.setVisible(VISUALIZE); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); yoGraphicsListRegistry.registerArtifactList(artifactList); }
public void registerYoGraphics(String listName, YoGraphic[] yoGraphics) { YoGraphicsList list = new YoGraphicsList(listName, yoGraphics); registerYoGraphicsList(list); }
@ContinuousIntegrationTest(estimatedDuration = 0.1) @Test(timeout = 30000) public void testVisualization() { YoGraphicsList dummyGraphicsList = new YoGraphicsList("DummyGraphics"); ArtifactList dummyArtifactList = new ArtifactList("DummyArtifacts"); copPointsInFoot.setupVisualizers(dummyGraphicsList, dummyArtifactList, 0.05); assertEquals(dummyArtifactList.getArtifacts().size(), 10); assertEquals(dummyGraphicsList.getYoGraphics().size(), 10); copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 1.0, new FramePoint3D(footSpoof.getSoleFrame(), 1.0, 2.1, 3.1)); YoGraphicPosition graphic = (YoGraphicPosition) dummyGraphicsList.getYoGraphics().get(0); assertEquals(1.0 - xToAnkle, graphic.getX(), 1e-5); assertEquals(2.1 - yToAnkle, graphic.getY(), 1e-5); assertEquals(3.1 - zToAnkle, graphic.getZ(), 1e-5); }
public VisualizeFramesController(ArrayList<ReferenceFrame> referenceFrames, YoGraphicsListRegistry yoGraphicsListRegistry, double coordinateSystemLength) { for (ReferenceFrame frame : referenceFrames) { YoGraphicReferenceFrame dynamicGraphicReferenceFrame = new YoGraphicReferenceFrame(frame, registry, coordinateSystemLength); dynamicGraphicReferenceFrames.add(dynamicGraphicReferenceFrame); yoGraphicsList.add(dynamicGraphicReferenceFrame); } yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); }
for (YoGraphicsList yoGraphicsList : yoGraphicsLists) for (YoGraphic yoGraphic : yoGraphicsList.getYoGraphics()) yoProtoHandshakeBuilder.addGraphicObject(msg.setListName(yoGraphicsList.getLabel()));
public void hideYoGraphics() { int numberOfElements = yoGraphicsLists.size(); for (int i = 0; i < numberOfElements; i++) { YoGraphicsList yoGraphicsList = yoGraphicsLists.get(i); yoGraphicsList.hideYoGraphics(); } }
final YoGraphicCoordinateSystem currentPoseViz = new YoGraphicCoordinateSystem(namePrefix + "CurrentPose", currentPosition.buildUpdatedYoFramePointForVisualizationOnly(), currentOrientationForViz, 0.25); yoGraphicsList = new YoGraphicsList(namePrefix + "StraightLineTrajectory"); yoGraphicsList.add(currentPositionViz); yoGraphicsList.add(initialPositionViz); yoGraphicsList.add(finalPositionViz); yoGraphicsList.add(initialPoseViz); yoGraphicsList.add(finalPoseViz); yoGraphicsList.add(currentPoseViz); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); bagOfBalls = new BagOfBalls(numberOfBalls, 0.01, yoGraphicsList.getLabel(), registry, yoGraphicsListRegistry);
private void createFrameVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, FullHumanoidRobotModel fullRobotModel, String listName, boolean enable) { YoGraphicsList list = new YoGraphicsList(listName); if (yoGraphicsListRegistry != null) { for (RobotSide robotSide : RobotSide.values) { ReferenceFrame handPositionControlFrame = fullRobotModel.getHandControlFrame(robotSide); if (handPositionControlFrame != null) { YoGraphicReferenceFrame dynamicGraphicReferenceFrame = new YoGraphicReferenceFrame(handPositionControlFrame, registry, 0.1); dynamicGraphicReferenceFrames.add(dynamicGraphicReferenceFrame); list.add(dynamicGraphicReferenceFrame); } } yoGraphicsListRegistry.registerYoGraphicsList(list); if (!enable) list.hideYoGraphics(); } }
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); }
public void registerYoGraphics(String listName, YoGraphic[] yoGraphics) { YoGraphicsList list = new YoGraphicsList(listName, yoGraphics); registerYoGraphicsList(list); }
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()); } }
public void registerYoGraphicsList(YoGraphicsList yoGraphicsList) { if (alreadyAddedToSimulationConstructionSet) throw new RuntimeException("Graphics have already been added to the SimulationConstructionSet. Cannot register more objects after this."); if (yoGraphicsLists.contains(yoGraphicsList)) { throw new RuntimeException("Already registered YoGraphicsList " + yoGraphicsList); } checkForRepeatNames(yoGraphicsList); for (YoGraphicsList list : yoGraphicsLists) { if (list.getLabel().equals(yoGraphicsList.getLabel())) { // Combine them: ArrayList<YoGraphic> yoGraphics = yoGraphicsList.getYoGraphics(); list.addAll(yoGraphics); return; } } yoGraphicsLists.add(yoGraphicsList); }
for (YoGraphicsList yoGraphicsList : yoGraphicsLists) for (YoGraphic yoGraphic : yoGraphicsList.getYoGraphics()) msg.setListName(yoGraphicsList.getLabel()); messageFromDynamicGraphicObject((RemoteYoGraphic) yoGraphic, msg);
public void hideYoGraphics() { int numberOfElements = yoGraphicsLists.size(); for (int i = 0; i < numberOfElements; i++) { YoGraphicsList yoGraphicsList = yoGraphicsLists.get(i); yoGraphicsList.hideYoGraphics(); } }