us.ihmc.simulationconstructionset.SimulationConstructionSet.addYoGraphicsListRegistry()方法的使用及代码示例

x33g5p2x  于2022-01-30 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.SimulationConstructionSet.addYoGraphicsListRegistry()方法的一些代码示例，展示了SimulationConstructionSet.addYoGraphicsListRegistry()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。SimulationConstructionSet.addYoGraphicsListRegistry()方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.SimulationConstructionSet
类名称：SimulationConstructionSet
方法名：addYoGraphicsListRegistry

SimulationConstructionSet.addYoGraphicsListRegistry介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

@Override
public void addController(MultiThreadedRobotControlElement controller, int executionsPerControlTick, boolean skipFirstControlCycle)
{
 controllers.add(new MultiThreadedRobotControllerExecutor(simulatedRobot, controller, executionsPerControlTick, skipFirstControlCycle, registry));
 if(controller.getYoGraphicsListRegistry() != null)
 {
   scs.addYoGraphicsListRegistry(controller.getYoGraphicsListRegistry(), false);
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

@Override
public void addController(MultiThreadedRobotControlElement controller, int executionsPerControlTick, boolean skipFirstControlCycle)
{
 controllers.add(new SingleThreadedRobotControllerExecutor(simulatedRobot, controller, executionsPerControlTick, skipFirstControlCycle, registry));
 
 if(scs != null && controller.getYoGraphicsListRegistry() != null)
 {
   scs.addYoGraphicsListRegistry(controller.getYoGraphicsListRegistry(), true);
 }
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public final void setLogDataProcessor(LogDataProcessorFunction logDataProcessor)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = logDataProcessor.getYoGraphicsListRegistry();
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.addArtifactListsToPlotter(plotter);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 logDataProcessorWrapper.addLogDataProcessor(logDataProcessor);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public final void setLogDataProcessor(LogDataProcessorFunction logDataProcessor)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = logDataProcessor.getYoGraphicsListRegistry();
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.addArtifactListsToPlotter(plotter);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 logDataProcessorWrapper.addLogDataProcessor(logDataProcessor);
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public final void setLogDataProcessor(LogDataProcessorFunction logDataProcessor)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = logDataProcessor.getYoGraphicsListRegistry();
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.addArtifactListsToPlotter(plotter);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 logDataProcessorWrapper.addLogDataProcessor(logDataProcessor);
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public void startVisualizer()
{
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.addYoVariableRegistry(registry);
 scs.setupGraphGroup("step times", new String[][]
 {
   {"t"}
 });
 scs.startOnAThread();
 scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public void startVisualizer()
{
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.addYoVariableRegistry(registry);
 scs.setupGraphGroup("step times", new String[][]
 {
   {"t"}
 });
 scs.startOnAThread();
 scs.tickAndUpdate();
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public static void main(String[] args)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 DRCDemoEnvironmentSimpleSteeringWheelContact env = new DRCDemoEnvironmentSimpleSteeringWheelContact(yoGraphicsListRegistry);
 List<Robot> robots = env.getEnvironmentRobots();
 Robot[] robotArray = new Robot[robots.size()];
 robots.toArray(robotArray);
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
 parameters.setDataBufferSize(36000);
 SimulationConstructionSet scs = new SimulationConstructionSet(robotArray, parameters);
 scs.setDT(1e-4, 20);
 TerrainObject3D terrainObject = env.getTerrainObject3D();
 scs.addStaticLinkGraphics(terrainObject.getLinkGraphics());
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public static void visualizeFootsteps(Robot nullRobot, List<Footstep> footsteps, List<ContactablePlaneBody> contactablePlaneBodies)
{
 SimulationConstructionSet scs = new SimulationConstructionSet(nullRobot);
 scs.setDT(0.25, 1);
 YoVariableRegistry rootRegistry = scs.getRootRegistry();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 int maxNumberOfContacts = 2;
 int maxPointsPerContact = 4;
 FootstepGeneratorVisualizer footstepGeneratorVisualizer = new FootstepGeneratorVisualizer(maxNumberOfContacts, maxPointsPerContact, rootRegistry,
    yoGraphicsListRegistry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 footstepGeneratorVisualizer.addFootstepsAndTickAndUpdate(scs, footsteps, contactablePlaneBodies);
 scs.startOnAThread();
 deleteFirstDataPointAndCropData(scs);
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform, false, true, true);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform, false, true, true);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithSimulationConstructionSet(double dtForViz,
                                               SideDependentList<ConvexPolygon2d> footPolygonsInSoleFrame)
{
 YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
                                                              registry, graphicsListRegistry);
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Test"));
 footstepPlannerVisualizer.setTickAndUpdatable(scs);
 scs.changeBufferSize(32000);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setDT(dtForViz, 1);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 return footstepPlannerVisualizer;
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void startSCS()
{
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setPlaybackRealTimeRate(0.025);
 Graphics3DObject linkGraphics = new Graphics3DObject();
 linkGraphics.addCoordinateSystem(0.3);
 scs.addStaticLinkGraphics(linkGraphics);
 scs.setCameraFix(0.0, 0.0, 0.5);
 scs.setCameraPosition(-0.5, 0.0, 1.0);
 SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = scs.createSimulationOverheadPlotterFactory();
 simulationOverheadPlotterFactory.addYoGraphicsListRegistries(graphicsListRegistry);
 simulationOverheadPlotterFactory.createOverheadPlotter();
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/DarpaRoboticsChallenge

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<ArrayList<Point2D>>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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