How to use

JavaFXCoordinateSystem

in

us.ihmc.javaFXToolkit.shapes

public LidarScanLogViewer()
{
 JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1);
 lidarFrame.getTransforms().add(lidarPose);
 root.getChildren().addAll(lidarFrame, scans);
 TextureColorPalette1D scanColorPalette = new TextureColorPalette1D();
 scanColorPalette.setHueBased(1.0, 1.0);
 scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette);
}

/**
* Display the world coordinate system.
* @param arrowLength length of each axis of the coordinate system.
*/
public void addWorldCoordinateSystem(double arrowLength)
{
 JavaFXCoordinateSystem worldCoordinateSystem = new JavaFXCoordinateSystem(arrowLength);
 worldCoordinateSystem.setMouseTransparent(true);
 addNodeToView(worldCoordinateSystem);
}

/**
* Display the world coordinate system.
* @param arrowLength length of each axis of the coordinate system.
*/
public void addWorldCoordinateSystem(double arrowLength)
{
 JavaFXCoordinateSystem worldCoordinateSystem = new JavaFXCoordinateSystem(arrowLength);
 addNodeToView(worldCoordinateSystem);
}

  public JavaFXCoordinateSystem(double length)
  {
   TextureColorPalette1D colorPalette = new TextureColorPalette1D();
   colorPalette.setHueBased(1.0, 1.0);
   JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
   double radius = 0.02 * length;
   double coneHeight = 0.10 * length;
   double coneRadius = 0.05 * length;
   meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(length, 0.0, 0.0), new AxisAngle(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCylinder(length, radius, new Point3D(), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, length, 0.0), new AxisAngle(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCylinder(length, radius, new Point3D(), Color.BLUE);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3D(0.0, 0.0, length), Color.BLUE);

   MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh());
   coordinateSystem.setMaterial(meshBuilder.generateMaterial());
   getChildren().addAll(coordinateSystem);
  }
}

  public JavaFXCoordinateSystem(double length)
  {
   TextureColorPalette1D colorPalette = new TextureColorPalette1D();
   colorPalette.setHueBased(1.0, 1.0);
   JavaFXMultiColorMeshBuilder meshBuilder = new JavaFXMultiColorMeshBuilder(colorPalette);
   double radius = 0.02 * length;
   double coneHeight = 0.10 * length;
   double coneRadius = 0.05 * length;
   meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(length, 0.0, 0.0), new AxisAngle4d(0.0, 1.0, 0.0, Math.PI / 2.0), Color.RED);
   meshBuilder.addCylinder(length, radius, new Point3d(), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, length, 0.0), new AxisAngle4d(1.0, 0.0, 0.0, -Math.PI / 2.0), Color.GREEN);
   meshBuilder.addCylinder(length, radius, new Point3d(), Color.BLUE);
   meshBuilder.addCone(coneHeight, coneRadius, new Point3d(0.0, 0.0, length), Color.BLUE);

   MeshView coordinateSystem = new MeshView(meshBuilder.generateMesh());
   coordinateSystem.setMaterial(meshBuilder.generateMaterial());
   getChildren().addAll(coordinateSystem);
  }
}

public LidarScanLogViewer()
{
 JavaFXCoordinateSystem lidarFrame = new JavaFXCoordinateSystem(0.1);
 lidarFrame.getTransforms().add(lidarPose);
 root.getChildren().addAll(lidarFrame, scans);
 TextureColorPalette1D scanColorPalette = new TextureColorPalette1D();
 scanColorPalette.setHueBased(1.0, 1.0);
 scanMeshBuilder = new JavaFXMultiColorMeshBuilder(scanColorPalette);
}

public LidarFrameViewer(REAUIMessager uiMessager)
{
 lidarCoordinateSystem = new JavaFXCoordinateSystem(0.1);
 lidarCoordinateSystem.getTransforms().add(lidarPose);
 root.getChildren().add(lidarCoordinateSystem);
 root.setMouseTransparent(true);
 uiMessager.registerTopicListener(REAModuleAPI.LidarScanState, this::handleMessage);
 uiMessager.registerModuleMessagerStateListener(isMessagerOpen -> {
   if (isMessagerOpen)
    start();
   else
    stop();
 });
}