How to use

getVisibilityGraphsParameters

method

in

us.ihmc.avatar.drcRobot.DRCRobotModel

@Override
public void start(Stage primaryStage) throws Exception
{
 DRCRobotModel drcRobotModel = new ValkyrieRobotModel(RobotTarget.REAL_ROBOT, false);
 messager = new SharedMemoryJavaFXMessager(FootstepPlannerMessagerAPI.API);
 messageConverter = RemoteUIMessageConverter.createConverter(messager, drcRobotModel.getSimpleRobotName(), DomainFactory.PubSubImplementation.FAST_RTPS);
 messager.startMessager();
 ui = FootstepPlannerUI.createMessagerUI(primaryStage, messager, drcRobotModel.getFootstepPlannerParameters(), drcRobotModel.getVisibilityGraphsParameters());
 ui.show();
}

public FootstepPlanningToolboxModule(DRCRobotModel drcRobotModel, LogModelProvider modelProvider, boolean startYoVariableServer,
                  DomainFactory.PubSubImplementation pubSubImplementation) throws IOException
{
 super(drcRobotModel.getSimpleRobotName(), drcRobotModel.createFullRobotModel(), modelProvider, startYoVariableServer, pubSubImplementation);
 setTimeWithoutInputsBeforeGoingToSleep(Double.POSITIVE_INFINITY);
 footstepPlanningToolboxController = new FootstepPlanningToolboxController(drcRobotModel.getContactPointParameters(),
                                      drcRobotModel.getFootstepPlannerParameters(),
                                      drcRobotModel.getVisibilityGraphsParameters(), statusOutputManager, registry,
                                      yoGraphicsListRegistry,
                                      Conversions.millisecondsToSeconds(DEFAULT_UPDATE_PERIOD_MILLISECONDS));
 footstepPlanningToolboxController.setTextToSpeechPublisher(textToSpeechPublisher);
 startYoVariableServer();
}

drcRobotModel.getVisibilityGraphsParameters(), commandInputManager,
statusOutputManager, executorService, registry, yoGraphicsListRegistry,
DEFAULT_UPDATE_PERIOD_MILLISECONDS);