How to use

generatePointsOnSphere

method

in

us.ihmc.robotics.geometry.SpiralBasedAlgorithm

public SphereVoxelShape(ReferenceFrame parentFrame, double voxelSize, int numberOfRays, int numberOfRotationsAroundRay, SphereVoxelType type)
{
 this.voxelSize = voxelSize;
 this.parentFrame = parentFrame;
 this.type = type;
 this.numberOfRays = numberOfRays;
 this.numberOfRotationsAroundRay = numberOfRotationsAroundRay;
 pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(sphereOrigin, voxelSize, numberOfRays);
 rotations = SpiralBasedAlgorithm.generateOrientations(numberOfRays, numberOfRotationsAroundRay);
}

public static Point3d[] generatePointsOnSphere(Point3d sphereOrigin, double sphereRadius, int numberOfPointsToGenerate)
{
 return generatePointsOnSphere(sphereOrigin, sphereRadius, numberOfPointsToGenerate, computeMagicDeltaN(numberOfPointsToGenerate));
}

public SphereVoxelShape(ReferenceFrame parentFrame, double voxelSize, int numberOfRays, int numberOfRotationsAroundRay, SphereVoxelType type)
{
 this.voxelSize = voxelSize;
 this.parentFrame = parentFrame;
 this.type = type;
 this.numberOfRays = numberOfRays;
 this.numberOfRotationsAroundRay = numberOfRotationsAroundRay;
 pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(sphereOrigin, voxelSize, numberOfRays);
 rotations = SpiralBasedAlgorithm.generateOrientations(numberOfRays, numberOfRotationsAroundRay);
}

public static Point3d[] generatePointsOnSphere(double sphereRadius, int numberOfPointsToGenerate, double deltaN)
{
 return generatePointsOnSphere(new Point3d(), sphereRadius, numberOfPointsToGenerate, deltaN);
}

public static Point3D[] generatePointsOnSphere(double sphereRadius, int numberOfPointsToGenerate, double deltaN)
{
 return generatePointsOnSphere(new Point3D(), sphereRadius, numberOfPointsToGenerate, deltaN);
}

public static Point3D[] generatePointsOnSphere(Point3D sphereOrigin, double sphereRadius, int numberOfPointsToGenerate)
{
 return generatePointsOnSphere(sphereOrigin, sphereRadius, numberOfPointsToGenerate, computeMagicDeltaN(numberOfPointsToGenerate));
}

public static Point3D[] generatePointsOnSphere(double sphereRadius, int numberOfPointsToGenerate)
{
 return generatePointsOnSphere(new Point3D(), sphereRadius, numberOfPointsToGenerate, computeMagicDeltaN(numberOfPointsToGenerate));
}

public static Point3d[] generatePointsOnSphere(double sphereRadius, int numberOfPointsToGenerate)
{
 return generatePointsOnSphere(new Point3d(), sphereRadius, numberOfPointsToGenerate, computeMagicDeltaN(numberOfPointsToGenerate));
}

private PlanarRegionsList createVisibleRegions(PlanarRegionsList regions, Point3D observer, PlanarRegionsList knownRegions,
                       List<YoFramePoint3D> rayPointsToPack)
 Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(observer, 1.0, rays);
 List<ConvexPolygon2D> visiblePolygons = new ArrayList<>();
 for (int i = 0; i < regions.getNumberOfPlanarRegions(); i++)

private PlanarRegionsList createVisibleRegions(PlanarRegionsList regions, Point3D observer, PlanarRegionsList knownRegions,
                       List<YoFramePoint3D> rayPointsToPack)
 Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(observer, 1.0, rays);
 List<ConvexPolygon2D> visiblePolygons = new ArrayList<>();
 for (int i = 0; i < regions.getNumberOfPlanarRegions(); i++)

private Pair<PlanarRegionsList, List<Point3D>> createVisibleRegions(PlanarRegionsList regions, Point3D observer, PlanarRegionsList knownRegions)
 Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(observer, 1.0, rays);

public static void visualizePointsOnSphereUsingSpiralBasedAlgorithm()
{
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Dummy"));
 scs.startOnAThread();
 Point3D sphereOrigin = new Point3D(0.0, 0.0, 1.0);
 double sphereRadius = 0.10;
 int numberOfPointsToGenerate = 200;
 Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(sphereOrigin, sphereRadius, numberOfPointsToGenerate);
 Graphics3DObject staticLinkGraphics = new Graphics3DObject();
 staticLinkGraphics.translate(sphereOrigin);
 AppearanceDefinition red = YoAppearance.Red();
 red.setTransparency(0.7);
 staticLinkGraphics.addSphere(sphereRadius, red);
 scs.addStaticLinkGraphics(staticLinkGraphics);
 for (int i = 0; i < numberOfPointsToGenerate; i++)
 {
   staticLinkGraphics = new Graphics3DObject();
   staticLinkGraphics.translate(pointsOnSphere[i]);
   staticLinkGraphics.addSphere(0.005);
   scs.addStaticLinkGraphics(staticLinkGraphics);
 }
}

Point3D[] contactPointsOffset = SpiralBasedAlgorithm.generatePointsOnSphere(ballRadius, 500);
for (int i = 0; i < contactPointsOffset.length; i++)

Point3D[] pointsOnSphere = generatePointsOnSphere(0.01, numberOfRays, deltaN);

Point3d[] pointsOnSphere = generatePointsOnSphere(0.01, numberOfRays, deltaN);

euclideanTrajectoryPointCalculator.enableWeightMethod(2.0, 1.0);
Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(radius, numberOfTrajectoryPoints * numberOfMessages);

euclideanTrajectoryPointCalculator.enableWeightMethod(2.0, 1.0);
Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(radius, numberOfTrajectoryPoints * numberOfMessages);

Point3D[] allPointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(sphereOrigin, sphereRadius, numberOfPointsToGenerate);
List<Point3D> selectedPoints = new ArrayList<>();

euclideanTrajectoryPointCalculator.enableWeightMethod(2.0, 1.0);
Point3D[] pointsOnSphere = SpiralBasedAlgorithm.generatePointsOnSphere(radius, numberOfTrajectoryPoints * numberOfMessages);