private static void setUpFlatBlock(PlanarRegionsListGenerator generator, double xInWorld, double yInWorld, double bottomSurfaceHeightLowestPoint, double blockHeight) { generator.translate(xInWorld, yInWorld, bottomSurfaceHeightLowestPoint); generator.addCubeReferencedAtBottomMiddle(cinderBlockLength, cinderBlockLength, blockHeight); generator.identity(); }
public VaryingHeightTiledGroundEnvironment(double tileWidth, int courseLengthInNumberOfTiles, int courseWidthInNumberOfTiles, double nominalGroundHeight, double maxHeightVariation) { generator.identity(); double startCoordinateX = - 0.5 * tileWidth * (courseLengthInNumberOfTiles - 1); double startCoordinateY = - 0.5 * tileWidth * (courseWidthInNumberOfTiles- 1); for (int i = 0; i < courseLengthInNumberOfTiles; i++) { for (int j = 0; j < courseWidthInNumberOfTiles; j++) { double tilePositionX = startCoordinateX + tileWidth * i; double tilePositionY = startCoordinateY + tileWidth * j; double tilePositionZ = nominalGroundHeight + EuclidCoreRandomTools.nextDouble(random, 0.5 * maxHeightVariation); generator.translate(tilePositionX, tilePositionY, tilePositionZ); generator.addRectangle(tileWidth, tileWidth); generator.identity(); } } addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
public ZigZagSlopeEnvironment(double rampSlope, double rampLength, int numberOfRamps, double heightAtRampMiddle) { double rampLengthX = rampLength * Math.cos(rampSlope); double startX = -0.5 * rampLengthX * (numberOfRamps - 1); double slopeSign = -1.0; for (int i = 0; i < numberOfRamps; i++) { generator.identity(); generator.translate(startX + i * rampLengthX, 0.0, heightAtRampMiddle); generator.rotate(rampSlope * slopeSign, Axis.Y); generator.addRectangle(rampLength, 1.0); slopeSign *= -1.0; } addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
public SingleStepEnvironment(double stepUpHeight, double stepLength) { // first ground plane generator.identity(); generator.addRectangle(2.0, 2.0); // step generator.translate(1.0 + 0.5 * stepLength, 0.0, stepUpHeight); generator.addRectangle(stepLength, 2.0); generator.identity(); generator.translate(1.0, 0.0, 0.5 * stepUpHeight); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(stepUpHeight, 2.0); generator.identity(); generator.translate(1.0 + stepLength, 0.0, 0.5 * stepUpHeight); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(stepUpHeight, 2.0); // second ground plane generator.identity(); generator.translate(2.0 + stepLength, 0.0, 0.0); generator.addRectangle(2.0, 2.0); addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
public static PlanarRegionsList generateBumpyGround(Random random, double maxX, double maxY, double maxZ) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); double length = 0.5; double width = 0.5; generator.translate(maxX/2.0 + length/2.0, maxY/2.0 - width/2.0, 0.0); generator.addCubeReferencedAtBottomMiddle(1.5 * maxX, 1.25 * maxY, 0.01); generator.identity(); int sizeX = (int) (maxX/length); int sizeY = (int) (maxY/width); for (int i=0; i<sizeY; i++) { generator.identity(); generator.translate(0.0, i * width, 0.0); for (int j=0; j<sizeX; j++) { generator.translate(length, 0.0, 0.0); double height = RandomNumbers.nextDouble(random, 0.01, maxZ); generator.addCubeReferencedAtBottomMiddle(length, width, height + random.nextDouble() * 0.1); } } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
generator.identity(); generator.translate(startingBlockLength + courseWidthXInNumberOfBlocks * cinderBlockSize, 0.0, 0.001); generator.addRectangle(startingBlockLength + extrusionLength, courseWidth + extrusionLength);
generator.identity(); generator.translate(0.6 + courseWidthXInNumberOfBlocks * cinderBlockSize, 0.0, 0.001); generator.addRectangle(0.6, courseWidth);
private static PlanarRegionsList simpleOccludedEnvironment(boolean includeGoalPlane) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.addRectangle(2.0, 4.0); generator.translate(1.0, -1.0, 0.5); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(0.9, 1.9); if (includeGoalPlane) { generator.identity(); generator.translate(2.0, -1.0, 0.0); generator.addRectangle(1.0, 1.0); } return generator.getPlanarRegionsList(); }
public TwoBollardEnvironment(double barrelSeparation) { // ground plane generator.addRectangle(1.0, barrelSeparation + 0.5); generator.translate(2.0, 0.0, 0.0); generator.addRectangle(3.0, 3.0); generator.translate(-4.0, 0.0, 0.0); generator.addRectangle(3.0, 3.0); addPlanarRegionsToTerrain(YoAppearance.RGBColor(110 / 256.0, 121 / 256.0, 121 / 256.0)); // first bollard generator.identity(); generator.translate(0.0, 0.5 * barrelSeparation, 0.0); generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight); addPlanarRegionsToTerrain(YoAppearance.Yellow()); // second bollard generator.identity(); generator.translate(0.0, -0.5 * barrelSeparation, 0.0); generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight); addPlanarRegionsToTerrain(YoAppearance.Yellow()); }
private PlanarRegionsList createSimpleOcclusionField(FramePose3D startPoseToPack, FramePose3D goalPoseToPack) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.rotate(Math.toRadians(10.0), Axis.X); generator.addRectangle(6.0, 6.0); generator.translate(-1.0, -1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); generator.identity(); generator.rotate(Math.toRadians(10.0), Axis.X); generator.translate(1.0, 1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); startPoseToPack.setToZero(ReferenceFrame.getWorldFrame()); startPoseToPack.setOrientationYawPitchRoll(Math.PI / 2.0, 0.0, 0.0); startPoseToPack.setPosition(-2.0, -2.0, 0.0); startPoseToPack.prependRollRotation(Math.toRadians(10.0)); goalPoseToPack.setToZero(ReferenceFrame.getWorldFrame()); goalPoseToPack.setOrientationYawPitchRoll(Math.PI / 2.0, 0.0, 0.0); goalPoseToPack.setPosition(2.0, 2.0, 0.0); goalPoseToPack.prependRollRotation(Math.toRadians(10.0)); return generator.getPlanarRegionsList(); }
private static PlanarRegionsList generateRandomTerrain(Random random) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(0.0, 0.0, 0.001); generator.addRectangle(14.0, 3.0); // floor plane double length = RandomNumbers.nextDouble(random, 0.3, 1.0); double width = RandomNumbers.nextDouble(random, 0.3, 1.0); double height = RandomNumbers.nextDouble(random, 0.07, 0.3); for (int i = 0; i < 100; i++) { generator.identity(); Vector3D translationVector = RandomGeometry.nextVector3D(random, -5.0, -1.0, -0.05, 5.0, 1.0, 0.0); generator.translate(translationVector); Quaternion rotation = RandomGeometry.nextQuaternion(random, Math.toRadians(15.0)); generator.rotate(rotation); generator.addCubeReferencedAtBottomMiddle(length, width, height); } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
public static PlanarRegionsList generateRandomObjects(Random random, int numberOfRandomObjects, double maxX, double maxY, double maxZ) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); double length = RandomNumbers.nextDouble(random, 0.2, 1.0); double width = RandomNumbers.nextDouble(random, 0.2, 1.0); double height = RandomNumbers.nextDouble(random, 0.2, 1.0); for (int i = 0; i < numberOfRandomObjects; i++) { generator.identity(); Vector3D translationVector = RandomGeometry.nextVector3D(random, -maxX, -maxY, 0.0, maxX, maxY, maxZ); generator.translate(translationVector); Quaternion rotation = RandomGeometry.nextQuaternion(random); generator.rotate(rotation); generator.addCubeReferencedAtBottomMiddle(length, width, height); } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
private PlanarRegionsList createSimpleOcclusionField(Point3D startPoseToPack, Point3D goalPoseToPack) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); // generator.rotate(Math.toRadians(10.0), Axis.X); generator.addRectangle(6.0, 6.0); generator.translate(-1.0, -1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); generator.identity(); // generator.rotate(Math.toRadians(10.0), Axis.X); generator.translate(1.0, 1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); startPoseToPack.set(-2.0, -2.0, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), startPoseToPack, startPoseToPack); goalPoseToPack.set(2.0, 2.0, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), goalPoseToPack, goalPoseToPack); return generator.getPlanarRegionsList(); }
public static PlanarRegionsList generateStairCase(Vector3D translationVector, Vector3D rotationVector) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(translationVector); int numberOfSteps = 5; double length = 0.4; double width = 0.8; double height = 0.1; generator.translate(length * numberOfSteps / 2.0, 0.0, 0.001); generator.addRectangle(1.2 * length * numberOfSteps, 1.2 * width); generator.identity(); generator.translate(translationVector); generator.translate(length, 0.0, 0.0); generator.rotateEuler(rotationVector); for (int i = 0; i < numberOfSteps; i++) { generator.addCubeReferencedAtBottomMiddle(length, width, height); generator.translate(length, 0.0, 0.0); height = height + 0.1; } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
public StaircaseEnvironment(int numberOfSteps, double stepHeight, double stepLength, boolean includeDown) generator.identity(); generator.addRectangle(startingBlockLength, 1.75); generator.translate(0.5 * (startingBlockLength - stepLength), 0.0, 0.0);
public CorridorTestData() { super(corridor); double corridorStartDistance = 0.5; double corridorWidth = 0.4; double corridorHeight = 2.0; double corridorLength = 0.25; double blockWidth = 2.0; PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(5.0, 0.0, 0.0); generator.addRectangle(20.0, 2.0 * blockWidth + corridorWidth); generator.identity(); generator.translate(corridorStartDistance + corridorLength / 2.0, (blockWidth + corridorWidth) / 2.0, 0.0); generator.addCubeReferencedAtBottomMiddle(corridorLength, blockWidth, corridorHeight); generator.translate(0.0, -blockWidth - corridorWidth, 0.0); generator.addCubeReferencedAtBottomMiddle(corridorLength, blockWidth, corridorHeight); PlanarRegionsList regions = generator.getPlanarRegionsList(); FramePose3D initialStanceFootPose = new FramePose3D(worldFrame); RobotSide initialStanceSide = RobotSide.LEFT; initialStanceFootPose.setY(initialStanceSide.negateIfRightSide(0.15)); initialStanceFootPose.setX(-2.0); FramePose3D goalPose = new FramePose3D(worldFrame); goalPose.setPosition(corridorStartDistance + corridorLength + 1.0, 0.0, 0.0); setStartPose(initialStanceFootPose); setGoalPose(goalPose); setPlanarRegions(regions); setStartSide(initialStanceSide); } }
public WallTestData() { super(wall); PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.addRectangle(5.0, 5.0); generator.translate(-0.5, 0.5, 0.5); generator.rotate(Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 1.5); generator.identity(); generator.translate(0.5, -0.5, 0.5); generator.rotate(Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 1.5); PlanarRegionsList regions = generator.getPlanarRegionsList(); FootstepPlannerParameters plannerParameters = new DefaultFootstepPlanningParameters(); // define start and goal conditions FramePose3D initialStanceFootPose = new FramePose3D(worldFrame); RobotSide initialStanceSide = RobotSide.LEFT; initialStanceFootPose.setY(initialStanceSide.negateIfRightSide(plannerParameters.getIdealFootstepWidth() / 2.0)); initialStanceFootPose.setX(-2.0); FramePose3D goalPose = new FramePose3D(worldFrame); goalPose.setPosition(2.0, 0.0, 0.0); setStartPose(initialStanceFootPose); setGoalPose(goalPose); setPlanarRegions(regions); setStartSide(initialStanceSide); } }
PlanarRegionsListExamples.generateSingleCiderBlock(generator, cinderBlockSize, cinderBlockHeight, 0, 0); generator.identity(); generator.translate(3 * cinderBlockSize, 0.0, 0.001); generator.addRectangle(0.6, 5.0);
PlanarRegionsListExamples.generateSingleCiderBlock(generator, cinderBlockSize, cinderBlockHeight, 0, 0); generator.identity(); generator.translate(3 * cinderBlockSize, 0.0, fieldHeight); generator.addRectangle(0.6, 5.0);