public YoArtifactOval(String name, YoFramePoint2d center, YoFrameVector2d radii, Color color) { super(name, new double[0], color, center.getYoX(), center.getYoY(), radii.getYoX(), radii.getYoY()); this.center = center; this.radii = radii; }
public static AccelerationLimitedYoFrameVector2d createAccelerationLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, DoubleYoVariable maxAcceleration, double dt, YoFrameVector2d unfilteredVector) { AccelerationLimitedYoVariable x = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoX(), dt); AccelerationLimitedYoVariable y = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoY(), dt); AccelerationLimitedYoFrameVector2d ret = new AccelerationLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, YoFrameVector2d unfilteredVector) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoY()); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, double dt, YoFrameVector2d unfilteredVector) { RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot) { this.simulatedRobot = simulatedRobot; simulateDT = scs.getDT(); gravity = simulatedRobot.getGravityZ(); momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum); if (createViz) { yoGraphicsListRegistry = new YoGraphicsListRegistry(); YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED , 0.005); cmpViz.setVisible(visibleByDefault); yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz); scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); } else { yoGraphicsListRegistry = null; } }
public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot) { this.simulatedRobot = simulatedRobot; simulateDT = scs.getDT(); gravity = simulatedRobot.getGravityZ(); momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum); if (createViz) { yoGraphicsListRegistry = new YoGraphicsListRegistry(); YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED , 0.005); cmpViz.setVisible(visibleByDefault); yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz); scs.addYoGraphicsListRegistry(yoGraphicsListRegistry); } else { yoGraphicsListRegistry = null; } }
public static BetaFilteredYoFrameVector2d createBetaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, YoFrameVector2d unfilteredVector) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta, unfilteredVector.getYoX()); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta, unfilteredVector.getYoY()); BetaFilteredYoFrameVector2d ret = new BetaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, String description, YoVariableRegistry registry, DoubleYoVariable alpha, YoFrameVector2d unfilteredVector) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), description, registry, alpha, unfilteredVector.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), description, registry, alpha, unfilteredVector.getYoY()); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, YoFrameVector2d unfilteredVector) { RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }