public void addCalibrationCube() { AppearanceDefinition app = YoAppearance.Beige(); setUpSlopedBox(combinedTerrainObject3D, 2, 2, .25, .5, .5, .5, 0, 0, app); }
public void addCalibrationCube() { AppearanceDefinition app = YoAppearance.Beige(); setUpSlopedBox(combinedTerrainObject3D, 2, 2, .25, .5, .5, .5, 0, 0, app); }
private CombinedTerrainObject3D setUpGround(String name) { CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name); combinedTerrainObject.addBox(-5.0, -30.0, 5.0, 5.0, -0.05, 0.0, YoAppearance.DarkGray()); combinedTerrainObject.addBox(-1.2192, -0.025, 0, 0.025, WALL_HEIGHT, YoAppearance.Beige()); combinedTerrainObject.addBox(0.0 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), -0.025, 1.2192 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), 0.025, WALL_HEIGHT, YoAppearance.Beige()); return combinedTerrainObject; }
private CombinedTerrainObject3D setUpGround(String name) { CombinedTerrainObject3D combinedTerrainObject = new CombinedTerrainObject3D(name); combinedTerrainObject.addBox(-10.0, -10.0, 10.0, 10.0, -0.05, 0.0, YoAppearance.DarkGray()); combinedTerrainObject.addBox(2.0, -0.05, 3.0, 0.05, 2.0, YoAppearance.Beige()); combinedTerrainObject.addBox(3.0 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), -0.05, 4.0 + ContactableDoorRobot.DEFAULT_DOOR_DIMENSIONS.getX(), 0.05, 2.0, YoAppearance.Beige()); return combinedTerrainObject; }
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); }
Beige().getAwtColor(), 0.01); graphicsListRegistry.registerArtifact(getClass().getSimpleName(), finalCapturePointViz); yoFinalCapturePoint.set(finalCapturePoint);
YoGraphicPosition finalDesiredCapturePointViz = new YoGraphicPosition("Final Desired Capture Point", yoFinalDesiredICP, 0.01, Beige(), GraphicType.BALL_WITH_ROTATED_CROSS); YoGraphicPosition desiredCMPViz = new YoGraphicPosition("Desired CMP", yoDesiredCMP, 0.012, Purple(), GraphicType.BALL_WITH_CROSS); YoGraphicPosition achievedCMPViz = new YoGraphicPosition("Achieved CMP", yoAchievedCMP, 0.005, DarkRed(), GraphicType.BALL_WITH_CROSS);