How to use

createRectanglePolygon

method

in

us.ihmc.robotics.geometry.PlanarRegionsListGenerator

public void addRectangle(double lengthX, double widthY)
{
 ConvexPolygon2d rectangle = createRectanglePolygon(lengthX, widthY);
 addPolygon(rectangle);
}

public void addRectangle(double lengthX, double widthY)
{
 ConvexPolygon2D rectangle = createRectanglePolygon(lengthX, widthY);
 addPolygon(rectangle);
}

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);
}