public BagOfBalls(int numberOfBalls, double sizeInMeters, String name, YoVariableRegistry parentYoVariableRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { this(numberOfBalls, sizeInMeters, name, YoAppearance.Black(), parentYoVariableRegistry, yoGraphicsListRegistry); }
public BagOfBalls(int numberOfBalls, YoVariableRegistry parentYoVariableRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { this(numberOfBalls, 0.01, "BagOfBalls", YoAppearance.Black(), parentYoVariableRegistry, yoGraphicsListRegistry); }
public YoGraphicVector(String name, YoFramePoint3D startPoint, YoFrameVector3D frameVector, double scale) { this(name, startPoint, frameVector, scale, YoAppearance.Black(), true); }
public BagOfBalls(YoVariableRegistry parentYoVariableRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { this(50, 0.01, "BagOfBalls", YoAppearance.Black(), parentYoVariableRegistry, yoGraphicsListRegistry); }
public BagOfBalls(int numberOfBalls, double sizeInMeters, YoVariableRegistry parentYoVariableRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { this(numberOfBalls, sizeInMeters, "BagOfBalls", YoAppearance.Black(), parentYoVariableRegistry, yoGraphicsListRegistry); }
public YoGraphicVector(String name, YoFramePoint startPoint, YoFrameVector frameVector, double scale) { this(name, startPoint, frameVector, scale, YoAppearance.Black(), true); }
/** * Adds a PlanarRegion transforming from the current coordinate system. * * @param planarRegion */ public void addPlanarRegion(PlanarRegion planarRegion) { addPlanarRegion(planarRegion, YoAppearance.Black()); }
/** Adds the PlanarRegionsList transforming from the current coordinate system. * * @param planarRegions */ public static void addPlanarRegionsList(Graphics3DObject graphics3DObject, PlanarRegionsList planarRegions) { addPlanarRegionsList(graphics3DObject, planarRegions, YoAppearance.Black()); }
/** Adds the PlanarRegionsList transforming from the current coordinate system. * * @param planarRegions */ public void addPlanarRegionsList(PlanarRegionsList planarRegions) { addPlanarRegionsList(planarRegions, YoAppearance.Black()); }
/** * Adds a PlanarRegion transforming from the current coordinate system. * * @param planarRegion */ public static void addPlanarRegion(Graphics3DObject graphics3DObject, PlanarRegion planarRegion) { addPlanarRegion(graphics3DObject, planarRegion, YoAppearance.Black()); }
public void addPolygons(RigidBodyTransform transform, List<? extends ConvexPolygon2DReadOnly> convexPolygon2D) { addPolygons(transform, convexPolygon2D, YoAppearance.Black()); }
private AppearanceDefinition getYoAppearance(RobotQuadrant robotQuadrant) { switch (robotQuadrant) { case FRONT_LEFT: return YoAppearance.White(); case FRONT_RIGHT: return YoAppearance.Yellow(); case HIND_LEFT: return YoAppearance.Blue(); case HIND_RIGHT: return YoAppearance.Black(); default: throw new RuntimeException("bad quad"); } }
private AppearanceDefinition getYoAppearance(RobotQuadrant robotQuadrant) { switch (robotQuadrant) { case FRONT_LEFT: return YoAppearance.White(); case FRONT_RIGHT: return YoAppearance.Yellow(); case HIND_LEFT: return YoAppearance.Blue(); case HIND_RIGHT: return YoAppearance.Black(); default: throw new RuntimeException("bad quad"); } }
public void createVisualizers(YoGraphicsList yoGraphicsList, ArtifactList artifactList) { YoGraphicPosition startOfSplineICPViz = new YoGraphicPosition("singleSupportInitialSplineICP", yoStartOfSplineICP, 0.004, YoAppearance.Black(), GraphicType.SOLID_BALL); yoGraphicsList.add(startOfSplineICPViz); artifactList.add(startOfSplineICPViz.createArtifact()); YoGraphicPosition endOfSplineICPViz = new YoGraphicPosition("singleSupportFinalSplineICP", yoEndOfSplineICP, 0.004, YoAppearance.Black(), GraphicType.BALL); yoGraphicsList.add(endOfSplineICPViz); artifactList.add(endOfSplineICPViz.createArtifact()); }
private static Link foot() { AppearanceDefinition footApp = YoAppearance.PlaneMaterial(); Link ret = new Link("foot"); ret.setMass(FOOT_MASS); // 0.207); ret.setMomentOfInertia(0.00041, 0.00041, 0.00001689); ret.setComOffset(FOOT_COM_OFFSET, 0.0, 0.0); Graphics3DObject linkGraphics = new Graphics3DObject(); linkGraphics.addCylinder(FOOT_LENGTH, FOOT_RAD, footApp); linkGraphics.translate(0.05, 0.0, FOOT_LENGTH); linkGraphics.addCube(0.02, 0.1, 0.1, YoAppearance.Black()); linkGraphics.translate(-0.1, 0.0, 0.0); linkGraphics.addCube(0.02, 0.1, 0.1, YoAppearance.Black()); ret.setLinkGraphics(linkGraphics); return ret; } private static RigidBodyBasics copyLinkAsRigidBody(Link link, JointBasics currentInverseDynamicsJoint, String bodyName)
private void addLidarNode() { lidarNode = new Graphics3DNode("lidar", new Graphics3DObject()); lidarNode.getGraphics3DObject().addModelFile("models/hokuyo.dae", YoAppearance.Black()); lidarNode.getGraphics3DObject().addCoordinateSystem(1.0); addChild(lidarNode); }
private void addLidarNode() { lidarNode = new Graphics3DNode("lidar", new Graphics3DObject()); lidarNode.getGraphics3DObject().addModelFile("models/hokuyo.dae", YoAppearance.Black()); lidarNode.getGraphics3DObject().addCoordinateSystem(1.0); addChild(lidarNode); }
private void createWheelGraphics(FrameTorus3d wheelTorus) { linkGraphics.addCone(0.05, 0.05); linkGraphics.addArcTorus(FastMath.PI / 3, 2 * FastMath.PI / 3, wheelTorus.getRadius(), wheelTorus.getThickness(), YoAppearance.Yellow()); wheelGraphic = linkGraphics.addArcTorus(2 * FastMath.PI / 3, 7 * FastMath.PI / 3, wheelTorus.getRadius(), wheelTorus.getThickness(), YoAppearance.Black()); }
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); }
private void visualizeNormalVector(Plane3D plane) { this.linkGraphics.identity(); linkGraphics.translate(new Vector3D(plane.getPointCopy())); linkGraphics.addSphere(0.005, YoAppearance.Black()); Vector3D normalCopy = plane.getNormalCopy(); normalCopy.scale(0.01); linkGraphics.translate(normalCopy); linkGraphics.addSphere(0.005, YoAppearance.Blue()); }