public void getVertex(int vertexIndex, Point2d vertexToPack) { vertexToPack.set(getVertex(vertexIndex)); }
public void setSupportPolygon(RobotSide robotSide, FrameConvexPolygon2d footPolygon) { int numberOfVertices = footPolygon.getNumberOfVertices(); if (numberOfVertices > MAXIMUM_NUMBER_OF_VERTICES) { numberOfVertices = MAXIMUM_NUMBER_OF_VERTICES; } if (robotSide == RobotSide.LEFT) { leftFootSupportPolygonLength = numberOfVertices; } else { rightFootSupportPolygonLength = numberOfVertices; } for (int i = 0; i < numberOfVertices; i++) { if (robotSide == RobotSide.LEFT) { footPolygon.getVertex(i, leftFootSupportPolygonStore[i]); } else { footPolygon.getVertex(i, rightFootSupportPolygonStore[i]); } } }
private void getYoValuesFromFrameConvexPolygon2d() { numVertices.set(convexPolygon2dForWriting.getNumberOfVertices()); try { for (int i = 0; i < numVertices.getIntegerValue(); i++) { yoFramePoints.get(i).checkReferenceFrameMatch(convexPolygon2dForWriting); yoFramePoints.get(i).set(convexPolygon2dForWriting.getVertex(i)); } } catch (Exception e) { System.err.println("In YoFrameConvexPolygon2d.java: " + e.getClass().getSimpleName() + " while calling getYoValuesFromFrameConvexPolygon2d()."); e.printStackTrace(); } }
private void drawPolygon(FrameConvexPolygon2d frameConvexPolygon2d, Graphics graphics) { Polygon polygon = new Polygon(); for (int i = 0; i < frameConvexPolygon2d.getNumberOfVertices(); i++) { Point2d vertex = frameConvexPolygon2d.getVertex(i); int xInt = doubleToInt(vertex.getX(), xCenter, scale, getWidth()); int yInt = doubleToInt(vertex.getY(), yCenter, -scale, getHeight()); polygon.addPoint(xInt, yInt); } graphics.drawPolygon(polygon); }
for (int i = 0; i < projectionArea.getNumberOfVertices(); i++) vertex.setIncludingFrame(projectionArea.getReferenceFrame(), projectionArea.getVertex(i)); finalICPToICPVector.setToZero(projectionArea.getReferenceFrame()); finalICPToICPVector.sub(capturePoint, finalCapturePoint);