How to use

getVertex

method

in

us.ihmc.robotics.geometry.FrameConvexPolygon2d

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);