static YoGraphicReferenceFrame createAsRemoteYoGraphic(String name, YoVariable<?>[] yoVariables, double[] constants) { return new YoGraphicReferenceFrame(name, yoVariables, constants); }
@Override public void update() { if (referenceFrame != null) this.setToReferenceFrame(referenceFrame); } }
private static YoGraphicReferenceFrame yoGraphicReferenceFrameFromMessage(String name, YoVariable<?>[] vars, double[] consts, AppearanceDefinition appearance) { return YoGraphicReferenceFrame.createAsRemoteYoGraphic(name, vars, consts); }
private void setupDynamicGraphicObjects(YoGraphicsListRegistry yoGraphicsListRegistry, List<? extends IMUSensorReadOnly> imuProcessedOutputs) { for (int i = 0; i < imuProcessedOutputs.size(); i++) { YoGraphicReferenceFrame dynamicGraphicMeasurementFrame = new YoGraphicReferenceFrame(imuProcessedOutputs.get(i).getMeasurementFrame(), registry, 1.0); dynamicGraphicMeasurementFrames.add(dynamicGraphicMeasurementFrame); } yoGraphicsListRegistry.registerYoGraphics("imuFrame", dynamicGraphicMeasurementFrames); }
private void updateDynamicGraphicReferenceFrames() { for (YoGraphicReferenceFrame frame : dynamicGraphicReferenceFrames) { frame.update(); } } }
@Override public void update() { this.setToReferenceFrame(referenceFrame); } }
public VisualizeFramesController(ArrayList<ReferenceFrame> referenceFrames, YoGraphicsListRegistry yoGraphicsListRegistry, double coordinateSystemLength) { for (ReferenceFrame frame : referenceFrames) { YoGraphicReferenceFrame dynamicGraphicReferenceFrame = new YoGraphicReferenceFrame(frame, registry, coordinateSystemLength); dynamicGraphicReferenceFrames.add(dynamicGraphicReferenceFrame); yoGraphicsList.add(dynamicGraphicReferenceFrame); } yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); }
@Override public void doControl() { for (YoGraphicReferenceFrame yoGraphicReferenceFrame : yoGraphicReferenceFrames) { yoGraphicReferenceFrame.update(); } } }
frameViz.setToReferenceFrame(controlFrame);
public CommonHumanoidReferenceFramesVisualizer(CommonHumanoidReferenceFrames referenceFrames, YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry) { String vizName = referenceFrames.getClass().getSimpleName(); for (RobotSide robotSide : RobotSide.values) { YoGraphicReferenceFrame yoGraphic = new YoGraphicReferenceFrame(referenceFrames.getAnkleZUpFrame(robotSide), registry, 0.2); yoGraphicsListRegistry.registerYoGraphic(vizName, yoGraphic); referenceFramesVisualizers.add(yoGraphic); } YoGraphicReferenceFrame midFeetFrame = new YoGraphicReferenceFrame(referenceFrames.getMidFeetZUpFrame(), registry, 0.2); yoGraphicsListRegistry.registerYoGraphic(vizName, midFeetFrame); referenceFramesVisualizers.add(midFeetFrame); YoGraphicReferenceFrame comFrame = new YoGraphicReferenceFrame(referenceFrames.getCenterOfMassFrame(), registry, 0.2); yoGraphicsListRegistry.registerYoGraphic(vizName, comFrame); referenceFramesVisualizers.add(comFrame); YoGraphicReferenceFrame pelvisFrame = new YoGraphicReferenceFrame(referenceFrames.getPelvisFrame(), registry, 0.2); yoGraphicsListRegistry.registerYoGraphic(vizName, pelvisFrame); referenceFramesVisualizers.add(pelvisFrame); parentRegistry.addChild(registry); }
private void updateGraphics() { for (int i = 0; i < dynamicGraphicReferenceFrames.size(); i++) { dynamicGraphicReferenceFrames.get(i).update(); } }
public InverseDynamicsMechanismReferenceFrameVisualizer(RigidBodyBasics rootBody, YoGraphicsListRegistry yoGraphicsListRegistry, double length) { YoGraphicsList yoGraphicsList = new YoGraphicsList(name); List<JointBasics> jointStack = new ArrayList<JointBasics>(rootBody.getChildrenJoints()); while (!jointStack.isEmpty()) { JointBasics joint = jointStack.get(0); ReferenceFrame referenceFrame = joint.getSuccessor().getBodyFixedFrame(); YoGraphicReferenceFrame yoGraphicReferenceFrame = new YoGraphicReferenceFrame(referenceFrame, registry, false, length); yoGraphicsList.add(yoGraphicReferenceFrame); yoGraphicReferenceFrames.add(yoGraphicReferenceFrame); List<? extends JointBasics> childrenJoints = joint.getSuccessor().getChildrenJoints(); jointStack.addAll(childrenJoints); jointStack.remove(joint); } yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); }
public void update() { for (int i = 0; i < referenceFramesVisualizers.size(); i++) { referenceFramesVisualizers.get(i).update(); } } }
cameraGraphic = new YoGraphicReferenceFrame(cameraReferenceFrame, registry, true, 0.5); detectorGraphic = new YoGraphicReferenceFrame(detectorReferenceFrame, registry, true, 1.0); locatedFiducialGraphic = new YoGraphicReferenceFrame(locatedFiducialReferenceFrame, registry, true, 0.1); reportedFiducialGraphic = new YoGraphicReferenceFrame(reportedFiducialReferenceFrame, registry, true, 0.2);
@Override public void doControl() { for (int i = 0; i < yoGraphicReferenceFrames.size(); i++) { yoGraphicReferenceFrames.get(i).update(); } }
private void createFrameVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, FullHumanoidRobotModel fullRobotModel, String listName, boolean enable) { YoGraphicsList list = new YoGraphicsList(listName); if (yoGraphicsListRegistry != null) { for (RobotSide robotSide : RobotSide.values) { ReferenceFrame handPositionControlFrame = fullRobotModel.getHandControlFrame(robotSide); if (handPositionControlFrame != null) { YoGraphicReferenceFrame dynamicGraphicReferenceFrame = new YoGraphicReferenceFrame(handPositionControlFrame, registry, 0.1); dynamicGraphicReferenceFrames.add(dynamicGraphicReferenceFrame); list.add(dynamicGraphicReferenceFrame); } } yoGraphicsListRegistry.registerYoGraphicsList(list); if (!enable) list.hideYoGraphics(); } }
private void updateVisualizers() { if (copVisualizer != null) copVisualizer.update(); if (visualizeMeasurementFrames) { for (int i = 0; i < dynamicGraphicMeasurementFrames.size(); i++) dynamicGraphicMeasurementFrames.get(i).update(); } if (ENABLE_JOINT_TORQUES_FROM_FORCE_SENSORS_VIZ) jointTorqueFromForceSensorVisualizer.update(); }
cameraGraphic = new YoGraphicReferenceFrame(cameraReferenceFrame, registry, 0.5); detectorGraphic = new YoGraphicReferenceFrame(detectorReferenceFrame, registry, 1.0); locatedFiducialGraphic = new YoGraphicReferenceFrame(locatedFiducialReferenceFrame, registry, 0.1); reportedFiducialGraphic = new YoGraphicReferenceFrame(reportedFiducialReferenceFrame, registry, 0.2);
private void initialize() { sphereVoxelShape = new SphereVoxelShape(gridFrame, voxelSize, numberOfRays, numberOfRotationsAroundRay, SphereVoxelType.graspOrigin); voxel3dGrid = new Voxel3DGrid(gridFrame, sphereVoxelShape, gridSizeInNumberOfVoxels, voxelSize); if (reachabilityMapFileWriter != null) reachabilityMapFileWriter.initialize(solver.getRobotArmJoints(), voxel3dGrid); gridFrameViz.update(); scs.addStaticLinkGraphics(ReachabilityMapTools.createBoundingBoxGraphics(voxel3dGrid.getMinPoint(), voxel3dGrid.getMaxPoint())); }