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); }
public void addPolygon(ConvexPolygon2D polygon) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon); 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); }
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); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testTranslateThenRotateTransformGeneration() { RigidBodyTransformGenerator generator = new RigidBodyTransformGenerator(); generator.translate(3.3, 4.4, 5.5); generator.rotateEuler(new Vector3D(0.67, 0.89, 0.34)); RigidBodyTransform expectedTransform = new RigidBodyTransform(); expectedTransform.setRotationEulerAndZeroTranslation(0.67, 0.89, 0.34); expectedTransform.setTranslation(3.3, 4.4, 5.5); RigidBodyTransform transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); }
RigidBodyTransform expectedTransform = new RigidBodyTransform(); expectedTransform.setTranslation(1.0, 0.0, 0.0); RigidBodyTransform transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform.setRotationEulerAndZeroTranslation(0.0, -Math.PI / 2.0, 0.0); expectedTransform.setTranslation(1.0, 0.0, 2.0); transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform.setRotationEulerAndZeroTranslation(-Math.PI / 2.0, 0.0, Math.PI / 2.0); expectedTransform.setTranslation(1.0, 3.0, 2.0); transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));
RigidBodyTransformGenerator generator = new RigidBodyTransformGenerator(); generator.rotate(yaw, Axis.Z); RigidBodyTransform transform = generator.getRigidBodyTransformCopy();
RigidBodyTransform transform = transformGenerator.getRigidBodyTransformCopy(); Point3D startPosition = new Point3D(-6.0, 0.0, 0.0); transform.transform(startPosition);
RigidBodyTransform identity = new RigidBodyTransform(); RigidBodyTransform transform = generator.getRigidBodyTransformCopy(); assertTrue(transform.epsilonEquals(identity, 1e-10));