public BagOfSingleFootstepVisualizers(int maxNumberOfFootstepsPerSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry) { singleFootstepVisualizers = new SideDependentList<ArrayList<SingleFootstepVisualizer>>(new ArrayList<SingleFootstepVisualizer>(), new ArrayList<SingleFootstepVisualizer>()); for (RobotSide robotSide : RobotSide.values) { for (int footstepIndex = 0; footstepIndex < maxNumberOfFootstepsPerSide; footstepIndex++) { SingleFootstepVisualizer singleFootstepVisualizer = new SingleFootstepVisualizer(robotSide, maxContactPoints, registry, yoGraphicsListRegistry); singleFootstepVisualizers.get(robotSide).add(singleFootstepVisualizer); } } }
public void visualizeFootstep(Footstep footstep, ContactablePlaneBody bipedFoot) { RobotSide robotSide = footstep.getRobotSide(); int index = indices.get(robotSide); SingleFootstepVisualizer singleFootstepVisualizer = singleFootstepVisualizers.get(robotSide).get(index); singleFootstepVisualizer.visualizeFootstep(footstep, bipedFoot); index++; if (index >= singleFootstepVisualizers.get(robotSide).size()) { index = 0; } indices.set(robotSide, index); } }
public void visualizeFootstep(Footstep footstep, ContactablePlaneBody bipedFoot) { RobotSide robotSide = footstep.getRobotSide(); int index = indices.get(robotSide); SingleFootstepVisualizer singleFootstepVisualizer = singleFootstepVisualizers.get(robotSide).get(index); singleFootstepVisualizer.visualizeFootstep(footstep, bipedFoot); index++; if (index >= singleFootstepVisualizers.get(robotSide).size()) { index = 0; } indices.set(robotSide, index); } }
public BagOfSingleFootstepVisualizers(int maxNumberOfFootstepsPerSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry) { singleFootstepVisualizers = new SideDependentList<ArrayList<SingleFootstepVisualizer>>(new ArrayList<SingleFootstepVisualizer>(), new ArrayList<SingleFootstepVisualizer>()); for (RobotSide robotSide : RobotSide.values) { for (int footstepIndex = 0; footstepIndex < maxNumberOfFootstepsPerSide; footstepIndex++) { SingleFootstepVisualizer singleFootstepVisualizer = new SingleFootstepVisualizer(robotSide, maxContactPoints, registry, yoGraphicsListRegistry); singleFootstepVisualizers.get(robotSide).add(singleFootstepVisualizer); } } }