private void registerArtifacts(String name, YoGraphicsListRegistry yoGraphicsListRegistry) { if (yoGraphicsListRegistry != null) { artifactList = new ArtifactList(name + "Balls"); for (YoGraphicPosition yoGraphicPosition : yoGraphicPositions) { artifactList.add(yoGraphicPosition.createArtifact()); } yoGraphicsListRegistry.registerArtifactList(artifactList); } }
private void addPolygonToArtifacts(String name, ConvexPolygon2D polygon, Color color) { YoFrameConvexPolygon2D yoPlanePolygon = new YoFrameConvexPolygon2D(name + "Polygon", worldFrame, 10, registry); artifacts.add(new YoArtifactPolygon(name, yoPlanePolygon , color, false)); yoPlanePolygon.set(polygon); }
public void createVisualizerForConstantCMPs(YoGraphicsList yoGraphicsList, ArtifactList artifactList) { for (int i = 0; i < entryCMPs.size(); i++) { YoGraphicPosition entryCMPViz = new YoGraphicPosition("Entry CMP" + i, entryCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(), GraphicType.SOLID_BALL); yoGraphicsList.add(entryCMPViz); artifactList.add(entryCMPViz.createArtifact()); } for (int i = 0; i < exitCMPs.size(); i++) { YoGraphicPosition exitCMPViz = new YoGraphicPosition("Exit CMP" + i, exitCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(), GraphicType.BALL); yoGraphicsList.add(exitCMPViz); artifactList.add(exitCMPViz.createArtifact()); } }
public void createVisualizers(YoGraphicsList yoGraphicsList, ArtifactList artifactList) { YoGraphicPosition startOfSplineICPViz = new YoGraphicPosition("singleSupportInitialSplineICP", yoStartOfSplineICP, 0.004, YoAppearance.Black(), GraphicType.SOLID_BALL); yoGraphicsList.add(startOfSplineICPViz); artifactList.add(startOfSplineICPViz.createArtifact()); YoGraphicPosition endOfSplineICPViz = new YoGraphicPosition("singleSupportFinalSplineICP", yoEndOfSplineICP, 0.004, YoAppearance.Black(), GraphicType.BALL); yoGraphicsList.add(endOfSplineICPViz); artifactList.add(endOfSplineICPViz.createArtifact()); }
private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize) { YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName()); ArtifactList artifactList = new ArtifactList(getClass().getSimpleName()); YoGraphicPosition previousExitCMP = new YoGraphicPosition("previousExitCMP", previousStanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE); YoGraphicPosition entryCMP = new YoGraphicPosition("entryCMP", stanceEntryCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE); YoGraphicPosition exitCMP = new YoGraphicPosition("exitCMP", stanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE); YoGraphicPosition finalICP = new YoGraphicPosition("finalICP", this.finalICP, 0.005, YoAppearance.Black(), GraphicType.SOLID_BALL); yoGraphicsList.add(finalICP); artifactList.add(previousExitCMP.createArtifact()); artifactList.add(entryCMP.createArtifact()); artifactList.add(exitCMP.createArtifact()); artifactList.add(finalICP.createArtifact()); artifactList.setVisible(visualize); yoGraphicsList.setVisible(visualize); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); yoGraphicsListRegistry.registerArtifactList(artifactList); }
public SimpleDesiredHeadingControlModuleVisualizer(ProcessedSensorsInterface processedSensors, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry) { this.processedSensors = processedSensors; desiredHeadingLine = new YoFrameLineSegment2d("desiredHeadingLine", "", ReferenceFrame.getWorldFrame(), registry); finalHeadingLine = new YoFrameLineSegment2d("finalHeadingLine", "", ReferenceFrame.getWorldFrame(), registry); if (yoGraphicsListRegistry != null) { ArtifactList artifactList = new ArtifactList("Simple Desired Heading"); YoArtifactLineSegment2d yoFrameLineSegment2dArtifact = new YoArtifactLineSegment2d("Desired Heading Line", desiredHeadingLine, Color.MAGENTA); artifactList.add(yoFrameLineSegment2dArtifact); yoFrameLineSegment2dArtifact = new YoArtifactLineSegment2d("Final Heading Line", finalHeadingLine, Color.ORANGE); artifactList.add(yoFrameLineSegment2dArtifact); yoGraphicsListRegistry.registerArtifactList(artifactList); } }
artifactList.add((Artifact) getRemoteGraphic(yoProtoHandshake.getArtifact(i)));
artifactList.add((Artifact) getRemoteGraphic(yoProtoHandshake.getArtifact(i)));
private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry) { YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName()); ArtifactList artifactList = new ArtifactList(getClass().getSimpleName()); referenceCMPsCalculator.createVisualizerForConstantCMPs(yoGraphicsList, artifactList); for (int i = 0; i < numberFootstepsToConsider.getIntegerValue() - 1; i++) { YoGraphicPosition icpEarlyCornerPointsViz = new YoGraphicPosition("EntryCornerPoints" + i, entryCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.SOLID_BALL); yoGraphicsList.add(icpEarlyCornerPointsViz); artifactList.add(icpEarlyCornerPointsViz.createArtifact()); YoGraphicPosition lateCornerPointsViz = new YoGraphicPosition("ExitCornerPoints" + i, exitCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.BALL); yoGraphicsList.add(lateCornerPointsViz); artifactList.add(lateCornerPointsViz.createArtifact()); } YoGraphicPosition singleSupportInitialICPViz = new YoGraphicPosition("singleSupportInitialICP", singleSupportInitialICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.SOLID_BALL); yoGraphicsList.add(singleSupportInitialICPViz); artifactList.add(singleSupportInitialICPViz.createArtifact()); YoGraphicPosition singleSupportFinalICPViz = new YoGraphicPosition("singleSupportFinalICP", singleSupportFinalICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.BALL); yoGraphicsList.add(singleSupportFinalICPViz); artifactList.add(singleSupportFinalICPViz.createArtifact()); icpSingleSupportTrajectoryGenerator.createVisualizers(yoGraphicsList, artifactList); artifactList.setVisible(VISUALIZE); yoGraphicsList.setVisible(VISUALIZE); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); yoGraphicsListRegistry.registerArtifactList(artifactList); }
artifactList.add((Artifact) getRemoteGraphic(yoProtoHandshake.getArtifacts().get(i)));
artifacts.add(new YoArtifactPolygon("Safe Area", yoSafeArea, Color.GREEN, false)); artifacts.add(new YoArtifactPolygon("Safe CMP Area", yoSafeCMPArea, Color.CYAN, false)); artifacts.add(new YoArtifactPosition("Capture Point For Momentum", yoCapturePoint.getYoX(), yoCapturePoint.getYoY(), GraphicType.BALL, Color.BLUE, 0.01)); artifacts.add(new YoArtifactPolygon("Projection Area", yoProjectionArea, Color.BLUE, false));
private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize) { YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName()); ArtifactList artifactList = new ArtifactList(getClass().getSimpleName()); YoGraphicPosition actualEndOfStateICP = new YoGraphicPosition("actualEndOfStateICP", this.actualEndOfStateICP, 0.005, YoAppearance.Aquamarine(), GraphicType.SOLID_BALL); YoGraphicPosition nominalReferenceICP = new YoGraphicPosition("nominalReferenceICP", this.nominalReferenceICP, 0.01, YoAppearance.LightYellow(), GraphicType.BALL); YoGraphicPosition nominalEndOfStateICP = new YoGraphicPosition("nominalEndOfStateICP", this.nominalEndOfStateICP, 0.01, YoAppearance.Green(), GraphicType.SOLID_BALL); yoGraphicsList.add(actualEndOfStateICP); yoGraphicsList.add(nominalReferenceICP); yoGraphicsList.add(nominalEndOfStateICP); artifactList.add(actualEndOfStateICP.createArtifact()); artifactList.add(nominalReferenceICP.createArtifact()); artifactList.add(nominalEndOfStateICP.createArtifact()); yoGraphicsList.setVisible(visualize); artifactList.setVisible(visualize); YoGraphicPosition referenceICP = new YoGraphicPosition("controllerReferenceICP", controllerReferenceICP, 0.005, YoAppearance.Yellow(), GraphicType.BALL_WITH_CROSS); YoGraphicPosition referenceCMP = new YoGraphicPosition("controllerReferenceCMP", controllerReferenceCMP, 0.005, YoAppearance.Beige(), GraphicType.BALL_WITH_CROSS); String name = "ICPOptimization"; yoGraphicsListRegistry.registerArtifact(name, referenceICP.createArtifact()); yoGraphicsListRegistry.registerArtifact(name, referenceCMP.createArtifact()); yoGraphicsListRegistry.registerYoGraphic(name, referenceICP); yoGraphicsListRegistry.registerYoGraphic(name, referenceCMP); yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList); yoGraphicsListRegistry.registerArtifactList(artifactList); }
public BipedSupportPolygons(SideDependentList<ReferenceFrame> ankleZUpFrames, ReferenceFrame midFeetZUpFrame, SideDependentList<ReferenceFrame> soleZUpFrames, YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry) { this.ankleZUpFrames = ankleZUpFrames; this.midFeetZUp = midFeetZUpFrame; this.soleZUpFrames = soleZUpFrames; supportPolygonViz = new YoFrameConvexPolygon2d("combinedPolygon", "", worldFrame, 2 * maxNumberOfContactPointsPerFoot, registry); ArtifactList artifactList = new ArtifactList(getClass().getSimpleName()); YoArtifactPolygon supportPolygonArtifact = new YoArtifactPolygon("Combined Polygon", supportPolygonViz, Color.pink, false); artifactList.add(supportPolygonArtifact); for (RobotSide robotSide : RobotSide.values) { footPolygonsInWorldFrame.put(robotSide, new FrameConvexPolygon2d()); footPolygonsInSoleFrame.put(robotSide, new FrameConvexPolygon2d()); footPolygonsInSoleZUpFrame.put(robotSide, new FrameConvexPolygon2d()); footPolygonsInAnkleZUp.put(robotSide, new FrameConvexPolygon2d()); footPolygonsInMidFeetZUp.put(robotSide, new FrameConvexPolygon2d()); String robotSidePrefix = robotSide.getCamelCaseNameForStartOfExpression(); YoFrameConvexPolygon2d footPolygonViz = new YoFrameConvexPolygon2d(robotSidePrefix + "FootPolygon", "", worldFrame, maxNumberOfContactPointsPerFoot, registry); footPolygonsViz.put(robotSide, footPolygonViz); YoArtifactPolygon footPolygonArtifact = new YoArtifactPolygon(robotSide.getCamelCaseNameForMiddleOfExpression() + " Foot Polygon", footPolygonViz, defaultFeetColors.get(robotSide), false); artifactList.add(footPolygonArtifact); } if (yoGraphicsListRegistry != null) { yoGraphicsListRegistry.registerArtifactList(artifactList); } parentRegistry.addChild(registry); }
String Prefix = robotSide.getCamelCaseNameForMiddleOfExpression(); YoFrameConvexPolygon2D yoFootPolygon = new YoFrameConvexPolygon2D(prefix + "FootPolygon", worldFrame, 10, registry); artifacts.add(new YoArtifactPolygon(Prefix + " Foot Polygon", yoFootPolygon, Color.BLACK, false, 1)); yoFootPolygon.set(footPolygonInWorld);