private void updateDynamicGraphicReferenceFrames() { for (YoGraphicReferenceFrame frame : dynamicGraphicReferenceFrames) { frame.update(); } } }
@Override public void doControl() { for (YoGraphicReferenceFrame yoGraphicReferenceFrame : yoGraphicReferenceFrames) { yoGraphicReferenceFrame.update(); } } }
public void update() { for (int i = 0; i < referenceFramesVisualizers.size(); i++) { referenceFramesVisualizers.get(i).update(); } } }
private void updateGraphics() { for (int i = 0; i < dynamicGraphicReferenceFrames.size(); i++) { dynamicGraphicReferenceFrames.get(i).update(); } }
@Override public void doControl() { for (int i = 0; i < yoGraphicReferenceFrames.size(); i++) { yoGraphicReferenceFrames.get(i).update(); } }
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(); }
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())); }
public void resetSwingParameters() { yoDesiredFootPosition.setToNaN(); yoCorrectedDesiredFootPosition.setToNaN(); yoDesiredFootLinearVelocity.setToNaN(); yoCorrectedDesiredFootLinearVelocity.setToNaN(); if (visualize) { yoDesiredFootPositionGraphic.hideGraphicObject(); yoCorrectedDesiredFootPositionGraphic.hideGraphicObject(); if (moreVisualizers) { virtualLegTangentialFrameHipCenteredGraphics.update(); virtualLegTangentialFrameAnkleCenteredGraphics.update(); yoDesiredFootLinearVelocityGraphic.hideGraphicObject(); yoCorrectedDesiredFootLinearVelocityGraphic.hideGraphicObject(); } } alphaSwingSingularityAvoidance.set(0.0); unachievedSwingTranslation.setToZero(); unachievedSwingVelocity.setToZero(); unachievedSwingAcceleration.setToZero(); }