public void visualizeInitialFootsteps(SideDependentList<? extends ContactablePlaneBody> bipedFeet, SideDependentList<Footstep> initialFeet) { bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.LEFT), bipedFeet.get(RobotSide.LEFT)); bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.RIGHT), bipedFeet.get(RobotSide.RIGHT)); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }
public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description) { nullRobot = new Robot("FootstepVisualizerRobot"); if (groundProfile != null) { GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry()); gcModel.setGroundProfile3D(groundProfile); nullRobot.setGroundContactModel(gcModel); } scs = new SimulationConstructionSet(nullRobot); if (linkGraphics != null) { scs.setGroundVisible(false); scs.addStaticLinkGraphics(linkGraphics); } printifdebug("Attaching exit listener"); scs.setDT(1, 1); yoGraphicsListRegistry = new YoGraphicsListRegistry(); bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry); addText(scs, yoGraphicsListRegistry, description); }
public void visualizeInitialFootsteps(SideDependentList<? extends ContactablePlaneBody> bipedFeet, SideDependentList<Footstep> initialFeet) { bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.LEFT), bipedFeet.get(RobotSide.LEFT)); bagOfSingleFootstepVisualizers.visualizeFootstep(initialFeet.get(RobotSide.RIGHT), bipedFeet.get(RobotSide.RIGHT)); }
public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep) { bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot); nullRobot.setTime(nullRobot.getTime() + scs.getDT()); FramePoint solePositon = new FramePoint(footstep.getSoleReferenceFrame()); solePositon.changeFrame(worldFrame); updateFocus(solePositon); scs.setCameraFix(focusX, focusY, 0.0); scs.setCameraPosition(focusX, focusY - 1.5, 6.0); scs.tickAndUpdate(); }
public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep) { bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot); nullRobot.setTime(nullRobot.getTime() + scs.getDT()); FramePoint3D solePositon = new FramePoint3D(footstep.getSoleReferenceFrame()); solePositon.changeFrame(worldFrame); updateFocus(solePositon); scs.setCameraFix(focusX, focusY, 0.0); scs.setCameraPosition(focusX, focusY - 1.5, 6.0); scs.tickAndUpdate(); }