private AdjustingFootstepSnapper createAdjustingFootstepSnapper() { QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); AdjustingFootstepSnapper footstepSnapper = new AdjustingFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters); return footstepSnapper; }
private ConvexHullFootstepSnapper createConvexHullFootstepSnapper() { QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); ConvexHullFootstepSnapper footstepSnapper = new ConvexHullFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters); return footstepSnapper; }
private SimpleFootstepSnapper createSimpleFootstepSnapper() { QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); BasicFootstepMask footstepMask = new BasicFootstepMask(snappingParameters.getCollisionPolygon(), 0.0); SimpleFootstepSnapper footstepSnapper = new SimpleFootstepSnapper(); boolean useMask = true; double kernelMaskSafetyBuffer = 0.15; double boundingBoxDimension = 0.15; footstepSnapper.setUseMask(useMask, kernelMaskSafetyBuffer, boundingBoxDimension); footstepSnapper.setMask(footstepMask); return footstepSnapper; }
private SimpleFootstepSnapper createSimpleFootstepSnapper() { QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); BasicFootstepMask footstepMask = new BasicFootstepMask(snappingParameters.getCollisionPolygon(), 0.0); SimpleFootstepSnapper footstepSnapper = new SimpleFootstepSnapper(); boolean useMask = true; double kernelMaskSafetyBuffer = 0.15; double boundingBoxDimension = 0.15; footstepSnapper.setUseMask(useMask, kernelMaskSafetyBuffer, boundingBoxDimension); footstepSnapper.setMask(footstepMask); return footstepSnapper; }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testBasicCropping() { QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); ConvexHullFootstepSnapper footstepSnapper = new ConvexHullFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters); List<Point2D> pointsToCrop = new ArrayList<Point2D>(); pointsToCrop.add(new Point2D(1,1)); pointsToCrop.add(new Point2D(-1,1)); pointsToCrop.add(new Point2D(-1,-1)); pointsToCrop.add(new Point2D(1,-1)); pointsToCrop.add(new Point2D(1.1,0)); List<Point2D> finalPoints = footstepSnapper.reduceListOfPointsByArea(pointsToCrop, 4); assertTrue(finalPoints.size() == 4.0); ConvexPolygon2D endPolygon = new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(finalPoints)); assertEquals(4.0, endPolygon.getArea(), 1e-15); }
public void testRandomCropping() QuadTreeFootstepSnappingParameters snappingParameters = new GenericFootstepSnappingParameters(); ConvexHullFootstepSnapper footstepSnapper = new ConvexHullFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters); List<Point2D> pointsToCrop = new ArrayList<Point2D>();