public static PlanarRegionsList importPlanarRegionData(File dataFolder) { return PlanarRegionFileTools.importPlanarRegionData(dataFolder); } }
/** * Loads either directly the planar regions from the given file, or from the first child * directory if the file is a visibility graphs dataset. * * @param inputFile the file to load the planar regions from. Can be an actual planar regions * data file or a visibility graphs dataset file. * @return the loaded planar regions or {@code null} if not able to load them. */ public static PlanarRegionsList importPlanarRegionData(File inputFile) { return PlanarRegionFileTools.importPlanarRegionData(adjustPlanarRegionsDataFile(inputFile)); }
public static void main(String[] args) { JFileChooser fileChooser = new JFileChooser(new File(".")); int returnVal = fileChooser.showOpenDialog(new JFrame()); if (returnVal == JFileChooser.APPROVE_OPTION) { File file = fileChooser.getSelectedFile().getParentFile(); PlanarRegionsList planarRegionsList = PlanarRegionFileTools.importPlanarRegionData(file); new ConstantPlanarRegionsPublisher(planarRegionsList).start(); } } }
public static PlanarRegionsList importUsingFileChooser(Window ownerWindow) { DirectoryChooser directoryChooser = new DirectoryChooser(); File initialDirectory = new File("../../Data/PlanarRegion"); if (!initialDirectory.exists() || !initialDirectory.isDirectory()) initialDirectory = new File("."); directoryChooser.setInitialDirectory(initialDirectory); File result = directoryChooser.showDialog(ownerWindow); if (result == null) return null; else return PlanarRegionFileTools.importPlanarRegionData(result); }
planarRegionsList = PlanarRegionFileTools.importPlanarRegionData(clazz, expectedPlanarRegionsResourceName);
@ContinuousIntegrationTest(estimatedDuration = 0.1) @Test(timeout = 300000) @Ignore // Resource file does not seem to exist. public void testOcclusionsFromData() { FramePose3D startPose = new FramePose3D(worldFrame); startPose.setPosition(0.25, -0.25, 0.0); FramePose3D goalPose = new FramePose3D(worldFrame); goalPose.setPosition(2.75, 0.95, 0.0); BestEffortPlannerParameters parameters = new BestEffortPlannerParameters(); Path path = Paths.get(getClass().getClassLoader().getResource("PlanarRegions_20171114_090937").getPath()); PlanarRegionsList regions = PlanarRegionFileTools.importPlanarRegionData(path.toFile()); runTest(startPose, goalPose, regions, parameters, new DefaultVisibilityGraphParameters(), 2.0); }
private void loadAndSubmitPlanarRegions() { PlanarRegionsList loadedPlanarRegions = PlanarRegionFileTools.importPlanarRegionData(loadedFile); directoryChooser.setInitialDirectory(loadedFile.getParentFile()); if (loadedPlanarRegions != null) { if (VERBOSE) PrintTools.info(this, "Loaded planar regions, broadcasting data."); messager.submitMessage(UIVisibilityGraphsTopics.GlobalReset, true); messager.submitMessage(UIVisibilityGraphsTopics.PlanarRegionData, loadedPlanarRegions); messager.submitMessage(UIVisibilityGraphsTopics.StartPosition, new Point3D()); messager.submitMessage(UIVisibilityGraphsTopics.GoalPosition, new Point3D()); reloadMenuItem.setDisable(false); } else { if (VERBOSE) PrintTools.info(this, "Failed to load planar regions."); reloadMenuItem.setDisable(true); loadedFile = null; } } }