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FrameConvexPolygon2d.intersectionWith
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How to use
intersectionWith
method
in
us.ihmc.robotics.geometry.FrameConvexPolygon2d

Best Java code snippets using us.ihmc.robotics.geometry.FrameConvexPolygon2d.intersectionWith (Showing top 9 results out of 315)

origin: us.ihmc/CommonWalkingControlModules

private void fitLine()
{
 if (!footCoPOccupancyGrid.fitLineToData(line))
   return;
 lineL.setIncludingFrame(line);
 lineL.shiftToLeft(width/2.0);
 lineR.setIncludingFrame(line);
 lineR.shiftToRight(width/2.0);
 backupFootPolygon.set(shrunkFootPolygon);
 shrunkFootPolygon.clear();
 shrunkFootPolygon.addVertices(defaultFootPolygon.intersectionWith(lineL));
 shrunkFootPolygon.addVertices(defaultFootPolygon.intersectionWith(lineR));
 shrunkFootPolygon.update();
}
origin: us.ihmc/CommonWalkingControlModules

rayFromICPAwayFromFinalDesiredICP.setIncludingFrame(capturePoint, finalDesiredICPToICPDirection);
FramePoint2d[] finalDesiredICPToICPIntersections = supportPolygon.intersectionWith(rayFromICPAwayFromFinalDesiredICP);
origin: us.ihmc/IHMCStateEstimation

footCenterCoPLineSegment.set(footFrame, 0.0, 0.0, tempCoP2d.getX(), tempCoP2d.getY());
FramePoint2d[] intersectionPoints = footPolygon.intersectionWith(footCenterCoPLineSegment);
origin: us.ihmc/CommonWalkingControlModules

boolean nextStepInside = desiredSteppingRegion.intersectionWith(touchdownFootPolygon, intersection);
origin: us.ihmc/IHMCRoboticsToolkit

FramePoint2d[] intersections = polygon.intersectionWith(line);
origin: us.ihmc/IHMCRoboticsToolkit

FramePoint2d[] intersections = polygon.intersectionWith(line);
if (intersections != null)
origin: us.ihmc/CommonWalkingControlModules

FramePoint2d[] intersections = gridBoundaries.intersectionWith(shiftedLine);
origin: us.ihmc/IHMCRoboticsToolkit

private void intersectASinglePolygon(FrameConvexPolygon2d polygon, Pair<FramePoint, FramePoint> intersectionWithPolygon)
{
 intersectionOfPlanes.changeFrame(polygon.getReferenceFrame());
 intersectionOfPlanes.projectOntoXYPlane(planeIntersectionOnPolygonPlane);
 polygon.intersectionWith(planeIntersectionOnPolygonPlane, lineIntersectionOnPolygonPlane);
 if (lineIntersectionOnPolygonPlane.getFirst().containsNaN() && lineIntersectionOnPolygonPlane.getSecond().containsNaN())
 {
   noIntersection = true;
 }
 if (!lineIntersectionOnPolygonPlane.getFirst().containsNaN())
 {
   intersectionWithPolygon.getFirst().setXYIncludingFrame(lineIntersectionOnPolygonPlane.getFirst());
 }
 if (!lineIntersectionOnPolygonPlane.getSecond().containsNaN())
 {
   intersectionWithPolygon.getSecond().setXYIncludingFrame(lineIntersectionOnPolygonPlane.getSecond());
 }
}
origin: us.ihmc/CommonWalkingControlModules

rawCaptureRegion.intersectionWith(reachableRegions.get(swingSide.getOppositeSide()), captureRegionPolygon);
us.ihmc.robotics.geometryFrameConvexPolygon2dintersectionWith

Popular methods of FrameConvexPolygon2d

  • <init>
    Creates an empty convex polygon attached to a reference frame, adds N new vertices using an array of
  • getNumberOfVertices
  • changeFrameAndProjectToXYPlane
  • getFrameVertex
  • isPointInside
    isPointInside Determines whether a point is inside the convex polygon (point in polygon test). Uses
  • getConvexPolygon2d
  • getVertex
  • setIncludingFrameAndUpdate
    This method does: 1- clear(referenceFrame); 2- addVertices(vertices); 3- update().
  • addVertex
    Add a vertex to this polygon. Note that this method recycles memory.
  • addVertexByProjectionOntoXYPlane
    Add a vertex to this polygon after doing newVertex2d.changeFrameAndProjectToXYPlane(this.referenceFr
  • addVertices
  • clear
    After calling this method, the polygon has no vertex, area, or centroid, and is attached to a new re
  • addVertices,
  • clear,
  • getCentroid,
  • getReferenceFrame,
  • isEmpty,
  • orthogonalProjection,
  • scale,
  • update,
  • addVertexAndChangeFrame

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