How to use

addPlanarRegion

method

in

us.ihmc.robotics.geometry.PlanarRegionsList

  public static PlanarRegionsList generatePlanarRegionsListFromRandomPolygonsWithRandomTransform(Random random, int numberOfRandomlyGeneratedPolygons,
                                                 double maxAbsoluteXYForPolygons,
                                                 int numberOfPossiblePointsForPolygons,
                                                 int numberOfPossiblePlanarRegions)
  {
   PlanarRegionsList planarRegionsList = new PlanarRegionsList();
   int numberOfPlanarRegions = random.nextInt(numberOfPossiblePlanarRegions) + 1;
   while (planarRegionsList.getNumberOfPlanarRegions() < numberOfPlanarRegions)
   {
     planarRegionsList.addPlanarRegion(PlanarRegion.generatePlanarRegionFromRandomPolygonsWithRandomTransform(random, numberOfRandomlyGeneratedPolygons,
                                                         maxAbsoluteXYForPolygons,
                                                         numberOfPossiblePointsForPolygons));
   }
   return planarRegionsList;
  }
}

public void addPolygon(ConvexPolygon2D polygon)
{
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

public void addPolygon(ConvexPolygon2d polygon)
{
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

public void addPolygons(ArrayList<ConvexPolygon2d> polygons)
{
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygons);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

public void addPolygon(RigidBodyTransformGenerator transformGenerator, ConvexPolygon2D polygon)
{
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

public void addPolygons(ArrayList<ConvexPolygon2D> polygons)
{
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygons);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

private static PlanarRegionsList createRandomPlanarRegionList(Random random)
{
 PlanarRegionsList planarRegionsList = new PlanarRegionsList();
 for (int i = 0; i < RandomNumbers.nextInt(random, 1, 50); i++)
   planarRegionsList.addPlanarRegion(createRandomPlanarRegion(random, i));
 return planarRegionsList;
}

private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY)
{
 ConvexPolygon2D rectangle = createRectanglePolygon(lengthX, widthY);
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY)
{
 ConvexPolygon2d rectangle = createRectanglePolygon(lengthX, widthY);
 PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle);
 planarRegion.setRegionId(id++);
 planarRegionsList.addPlanarRegion(planarRegion);
}

   planarRegionsList.addPlanarRegion(constructPlanarRegion(footstepPose, searchWidth, boxLength - lengthIncrement));
planarRegionsList.addPlanarRegion(constructPlanarRegion(footstepPose, searchWidth, maxSearchLength));

  ret.addPlanarRegion(new PlanarRegion(transformA, newHull));
  foundMatchingRegion = true;
  added[regionBIdx] = true;
ret.addPlanarRegion(new PlanarRegion(transformA, new ConvexPolygon2D(regionA.getConvexHull())));
ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));

originalRegion.getTransformToWorld(transform);
PlanarRegion newRegion = new PlanarRegion(transform, polygon);
visible.addPlanarRegion(newRegion);

  ret.addPlanarRegion(new PlanarRegion(transformA, newHull));
  foundMatchingRegion = true;
  added[regionBIdx] = true;
ret.addPlanarRegion(new PlanarRegion(transformA, new ConvexPolygon2D(regionA.getConvexHull())));
ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));

originalRegion.getTransformToWorld(transform);
PlanarRegion newRegion = new PlanarRegion(transform, polygon);
visible.addPlanarRegion(newRegion);

PlanarRegion newRegion = new PlanarRegion(transform, polygon);
newRegion.setRegionId(regions.getPlanarRegion(i).getRegionId());
visible.addPlanarRegion(newRegion);

  PlanarRegion combinedRegion = new PlanarRegion(transformA, newHull);
  combinedRegion.setRegionId(regionA.getRegionId());
  ret.addPlanarRegion(combinedRegion);
  foundMatchingRegion = true;
  added[regionBIdx] = true;
ret.addPlanarRegion(region);
ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));

private void addPlanarRegionAtZeroHeight(double xLocation, double yLocation)
{
 ConvexPolygon2D polygon = new ConvexPolygon2D();
 polygon.addVertex(0.3, 0.3);
 polygon.addVertex(-0.3, 0.3);
 polygon.addVertex(0.3, -0.3);
 polygon.addVertex(-0.3, -0.25);
 polygon.update();
 PlanarRegion planarRegion = new PlanarRegion(new RigidBodyTransform(new AxisAngle(), new Vector3D(xLocation, yLocation, 0.0)), polygon);
 planarRegionsList.addPlanarRegion(planarRegion);
}

private void addPlanarRegionAtZeroHeight(double xLocation, double yLocation)
{
 ConvexPolygon2D polygon = new ConvexPolygon2D();
 polygon.addVertex(0.3, 0.3);
 polygon.addVertex(-0.3, 0.3);
 polygon.addVertex(0.3, -0.3);
 polygon.addVertex(-0.3, -0.25);
 polygon.update();
 PlanarRegion planarRegion = new PlanarRegion(new RigidBodyTransform(new AxisAngle(), new Vector3D(xLocation, yLocation, 0.0)), polygon);
 planarRegionsList.addPlanarRegion(planarRegion);
}

planarRegionsList.addPlanarRegion(planarRegion);

for (int i = 0; i < cinderBlockField.getNumberOfPlanarRegions(); i++)
  obstacleCourse.addPlanarRegion(cinderBlockField.getPlanarRegion(i));