public static PlanarRegionsList generatePlanarRegionsListFromRandomPolygonsWithRandomTransform(Random random, int numberOfRandomlyGeneratedPolygons, double maxAbsoluteXYForPolygons, int numberOfPossiblePointsForPolygons, int numberOfPossiblePlanarRegions) { PlanarRegionsList planarRegionsList = new PlanarRegionsList(); int numberOfPlanarRegions = random.nextInt(numberOfPossiblePlanarRegions) + 1; while (planarRegionsList.getNumberOfPlanarRegions() < numberOfPlanarRegions) { planarRegionsList.addPlanarRegion(PlanarRegion.generatePlanarRegionFromRandomPolygonsWithRandomTransform(random, numberOfRandomlyGeneratedPolygons, maxAbsoluteXYForPolygons, numberOfPossiblePointsForPolygons)); } return planarRegionsList; } }
public void addPolygon(ConvexPolygon2D polygon) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygon(ConvexPolygon2d polygon) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygons(ArrayList<ConvexPolygon2d> polygons) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygons); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygon(RigidBodyTransformGenerator transformGenerator, ConvexPolygon2D polygon) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygons(ArrayList<ConvexPolygon2D> polygons) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygons); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
private static PlanarRegionsList createRandomPlanarRegionList(Random random) { PlanarRegionsList planarRegionsList = new PlanarRegionsList(); for (int i = 0; i < RandomNumbers.nextInt(random, 1, 50); i++) planarRegionsList.addPlanarRegion(createRandomPlanarRegion(random, i)); return planarRegionsList; }
private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY) { ConvexPolygon2D rectangle = createRectanglePolygon(lengthX, widthY); PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY) { ConvexPolygon2d rectangle = createRectanglePolygon(lengthX, widthY); PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
planarRegionsList.addPlanarRegion(constructPlanarRegion(footstepPose, searchWidth, boxLength - lengthIncrement)); planarRegionsList.addPlanarRegion(constructPlanarRegion(footstepPose, searchWidth, maxSearchLength));
ret.addPlanarRegion(new PlanarRegion(transformA, newHull)); foundMatchingRegion = true; added[regionBIdx] = true; ret.addPlanarRegion(new PlanarRegion(transformA, new ConvexPolygon2D(regionA.getConvexHull()))); ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));
originalRegion.getTransformToWorld(transform); PlanarRegion newRegion = new PlanarRegion(transform, polygon); visible.addPlanarRegion(newRegion);
ret.addPlanarRegion(new PlanarRegion(transformA, newHull)); foundMatchingRegion = true; added[regionBIdx] = true; ret.addPlanarRegion(new PlanarRegion(transformA, new ConvexPolygon2D(regionA.getConvexHull()))); ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));
originalRegion.getTransformToWorld(transform); PlanarRegion newRegion = new PlanarRegion(transform, polygon); visible.addPlanarRegion(newRegion);
PlanarRegion newRegion = new PlanarRegion(transform, polygon); newRegion.setRegionId(regions.getPlanarRegion(i).getRegionId()); visible.addPlanarRegion(newRegion);
PlanarRegion combinedRegion = new PlanarRegion(transformA, newHull); combinedRegion.setRegionId(regionA.getRegionId()); ret.addPlanarRegion(combinedRegion); foundMatchingRegion = true; added[regionBIdx] = true; ret.addPlanarRegion(region); ret.addPlanarRegion(regionsB.getPlanarRegion(regionBIdx));
private void addPlanarRegionAtZeroHeight(double xLocation, double yLocation) { ConvexPolygon2D polygon = new ConvexPolygon2D(); polygon.addVertex(0.3, 0.3); polygon.addVertex(-0.3, 0.3); polygon.addVertex(0.3, -0.3); polygon.addVertex(-0.3, -0.25); polygon.update(); PlanarRegion planarRegion = new PlanarRegion(new RigidBodyTransform(new AxisAngle(), new Vector3D(xLocation, yLocation, 0.0)), polygon); planarRegionsList.addPlanarRegion(planarRegion); }
private void addPlanarRegionAtZeroHeight(double xLocation, double yLocation) { ConvexPolygon2D polygon = new ConvexPolygon2D(); polygon.addVertex(0.3, 0.3); polygon.addVertex(-0.3, 0.3); polygon.addVertex(0.3, -0.3); polygon.addVertex(-0.3, -0.25); polygon.update(); PlanarRegion planarRegion = new PlanarRegion(new RigidBodyTransform(new AxisAngle(), new Vector3D(xLocation, yLocation, 0.0)), polygon); planarRegionsList.addPlanarRegion(planarRegion); }
planarRegionsList.addPlanarRegion(planarRegion);
for (int i = 0; i < cinderBlockField.getNumberOfPlanarRegions(); i++) obstacleCourse.addPlanarRegion(cinderBlockField.getPlanarRegion(i));