How to use

getZ

method

in

us.ihmc.graphicsDescription.color.MutableColor

public float getBlue()
{
 return color.getZ();
}

public YoAppearanceRGBColor(MutableColor color, double transparency)
{
 this.color = new MutableColor(color);
 awtColor = new Color(this.color.getX(), this.color.getY(), this.color.getZ(), (float) (1.0 - transparency));
 setTransparency(transparency);
}

public static ColorRGBA jMEColorRGBAFromVecMathColor3f(MutableColor originalColor, double alpha)
{
 float r = originalColor.getX();
 float g = originalColor.getY();
 float b = originalColor.getZ();
 return new ColorRGBA(r, g, b, (float) alpha);
}

public static AppearanceDefinition Color(MutableColor color)
{
 return RGBColor(color.getX(), color.getY(), color.getZ());
}

private static Material convertMaterial(AppearanceDefinition appearance)
{
 float r = appearance.getColor().getX();
 float g = appearance.getColor().getY();
 float b = appearance.getColor().getZ();
 double transparency = appearance.getTransparency();
 if (appearance instanceof YoAppearanceRGBColor)
 {
   transparency = 1.0 - transparency;
 }
 Color color = new Color(r, g, b, transparency);
 PhongMaterial res = new PhongMaterial(color);
 res.setSpecularColor(Color.WHITE);
 return res;
}

appearanceMessage.setR(obj.getAppearance().getColor().getX());
appearanceMessage.setG(obj.getAppearance().getColor().getY());
appearanceMessage.setB(obj.getAppearance().getColor().getZ());
appearanceMessage.setTransparency(obj.getAppearance().getTransparency());

public void publish(Point3D[] points, MutableColor color, String frameId)
{
 PointCloud2 message = getMessage();
 message.getHeader().setFrameId(frameId);
 message.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
 message.setHeight(1);
 message.setWidth(points.length);
 message.setPointStep(pointType.getPointStep());
 int dataLength = pointType.getPointStep() * points.length;
 message.setRowStep(dataLength);
 message.setIsBigendian(false);
 message.setIsDense(true);
 message.setFields(pointType.getPointField());
 ChannelBuffer buffer = new LittleEndianHeapChannelBuffer(dataLength);
 for(int i=0;i<points.length;i++)
 {
   buffer.writeFloat((float)points[i].getX());
   buffer.writeFloat((float)points[i].getY());
   buffer.writeFloat((float)points[i].getZ());
   buffer.writeByte((int)color.getZ());
   buffer.writeByte((int)color.getY());
   buffer.writeByte((int)color.getX());
   buffer.writeByte(0); //dummy;
 }
 message.setData(buffer);
 publish(message);
}

public void publish(Point3D[] points, MutableColor[] colors, String frameId)
{
 PointCloud2 message = getMessage();
 message.getHeader().setFrameId(frameId);
 message.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
 message.setHeight(1);
 message.setWidth(points.length);
 message.setPointStep(pointType.getPointStep());
 int dataLength = pointType.getPointStep() * points.length;
 message.setRowStep(dataLength);
 message.setIsBigendian(false);
 message.setIsDense(true);
 message.setFields(pointType.getPointField());
 
 ChannelBuffer buffer = new LittleEndianHeapChannelBuffer(dataLength);
 for(int i=0;i<points.length;i++)
 {
   buffer.writeFloat((float)points[i].getX());
   buffer.writeFloat((float)points[i].getY());
   buffer.writeFloat((float)points[i].getZ());
   buffer.writeByte((int)colors[i].getZ());
   buffer.writeByte((int)colors[i].getY());
   buffer.writeByte((int)colors[i].getX());
   buffer.writeByte(0); //dummy;
 }
 message.setData(buffer);
 
 publish(message);
 
}