us.ihmc.simulationconstructionset.SimulationConstructionSet.setCameraFix()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.setCameraFix()方法的一些代码示例，展示了SimulationConstructionSet.setCameraFix()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.setCameraFix()方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.SimulationConstructionSet
类名称：SimulationConstructionSet
方法名：setCameraFix

SimulationConstructionSet.setCameraFix介绍

暂无

代码示例

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.x, scsCameraPosition.y, scsCameraPosition.z);
 scs.setCameraFix(scsCameraFix.x, scsCameraFix.y, scsCameraFix.z);
 scs.startOnAThread();
}

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.x, scsCameraPosition.y, scsCameraPosition.z);
 scs.setCameraFix(scsCameraFix.x, scsCameraFix.y, scsCameraFix.z);
 scs.startOnAThread();
}

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

private void startSimAndDisplayLink(Link linkToDisplay)
  {
//    Robot nullRobot = new Robot("Null");
   sim = new SimulationConstructionSet(parameters);

   sim.addStaticLink(linkToDisplay);

   // position the camera to view links
   sim.setCameraPosition(6.0, 6.0, 3.0);
   sim.setCameraFix(0.5, 0.5, 0.0);

   sim.setGroundVisible(false);
   sim.startOnAThread();

   ThreadTools.sleep(3000);
   sim.closeAndDispose();
  }

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

public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep)
{
 bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot);
 nullRobot.setTime(nullRobot.getTime() + scs.getDT());
 FramePoint solePositon = new FramePoint(footstep.getSoleReferenceFrame());
 solePositon.changeFrame(worldFrame);
 updateFocus(solePositon);
 scs.setCameraFix(focusX, focusY, 0.0);
 scs.setCameraPosition(focusX, focusY - 1.5, 6.0);
 scs.tickAndUpdate();
}

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

public void visualizeFootstep(ContactablePlaneBody bipedFoot, Footstep footstep)
{
 bagOfSingleFootstepVisualizers.visualizeFootstep(footstep, bipedFoot);
 nullRobot.setTime(nullRobot.getTime() + scs.getDT());
 FramePoint3D solePositon = new FramePoint3D(footstep.getSoleReferenceFrame());
 solePositon.changeFrame(worldFrame);
 updateFocus(solePositon);
 scs.setCameraFix(focusX, focusY, 0.0);
 scs.setCameraPosition(focusX, focusY - 1.5, 6.0);
 scs.tickAndUpdate();
}

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

private DRCRobotModel setup(DRCStartingLocation startingLocation) throws SimulationExceededMaximumTimeException
{
 String className = getClass().getSimpleName();
 FlatGroundEnvironment environment = new FlatGroundEnvironment();
 DRCRobotModel robotModel = getRobotModel();
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, robotModel, environment);
 drcSimulationTestHelper.setStartingLocation(startingLocation);
 drcSimulationTestHelper.createSimulation(className);
 drcSimulationTestHelper.getSimulationConstructionSet().setCameraPosition(0.0, -3.0, 1.0);
 drcSimulationTestHelper.getSimulationConstructionSet().setCameraFix(0.0, 0.0, 0.2);
 pushController = new PushRobotController(drcSimulationTestHelper.getRobot(), robotModel.createFullRobotModel().getChest().getParentJoint().getName(),
                      new Vector3D(0, 0, 0.15));
 ThreadTools.sleep(1000);
 assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(0.5));
 return robotModel;
}

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

public void startSimulation()
{
 SimulationConstructionSetParameters simulationParameters = new SimulationConstructionSetParameters(true, 16000);
 SimulationConstructionSet scs = new SimulationConstructionSet(simulatedRobot, simulationParameters);
 scs.setDT(robotModel.getSimulateDT(), 10);
 scs.setCameraPosition(scsCameraPosition.getX(), scsCameraPosition.getY(), scsCameraPosition.getZ());
 scs.setCameraFix(scsCameraFix.getX(), scsCameraFix.getY(), scsCameraFix.getZ());
 scs.startOnAThread();
}

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/ihmc-footstep-planning-test

scs.setPlaybackRealTimeRate(playbackRate);
scs.setMaxBufferSize(64000);
scs.setCameraFix(0.0, 0.0, 0.0);
scs.setCameraPosition(-0.001, 0.0, 15.0);
scs.tickAndUpdate();

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

private void setupTest() throws SimulationExceededMaximumTimeException
{
 BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
 DRCObstacleCourseStartingLocation selectedLocation = DRCObstacleCourseStartingLocation.DEFAULT;
 FlatGroundEnvironment environment = new FlatGroundEnvironment();
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, getRobotModel());
 drcSimulationTestHelper.setTestEnvironment(environment);
 drcSimulationTestHelper.setStartingLocation(selectedLocation);
 drcSimulationTestHelper.createSimulation(getClass().getSimpleName());
 ThreadTools.sleep(1000);
 FullHumanoidRobotModel fullRobotModel = drcSimulationTestHelper.getControllerFullRobotModel();
 head = fullRobotModel.getHead();
 chest = fullRobotModel.getChest();
 neckJoints = MultiBodySystemTools.createOneDoFJointPath(chest, head);
 numberOfJoints = neckJoints.length;
 drcSimulationTestHelper.getSimulationConstructionSet().hideAllYoGraphics();
 drcSimulationTestHelper.getSimulationConstructionSet().setCameraPosition(5.0, 0.0, 2.0);
 drcSimulationTestHelper.getSimulationConstructionSet().setCameraFix(0.0, 0.0, 0.4);
 assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0));
}

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

scs.addStaticLinkGraphics(linkGraphics);
scs.setCameraFix(CAMFIX[0], CAMFIX[1], CAMFIX[2]);
scs.setCameraPosition(CAMPOS[0], CAMPOS[1], CAMPOS[2]);

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

scs.setCameraFix(0.0, 0.0, 1.0);
scs.setCameraPosition(8.0, 0.0, 3.0);
scs.startOnAThread();

代码示例来源：origin: us.ihmc/ihmc-path-planning-test

private static SimulationConstructionSet setupSCS(String testName, YoVariableRegistry testRegistry, PlanarRegionsList regions, Point3D start, Point3D goal)
{
 Robot robot = new Robot(VisibilityGraphsOcclusionTest.class.getSimpleName());
 robot.addYoVariableRegistry(testRegistry);
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, simulationTestingParameters);
 Graphics3DObject graphics3DObject = new Graphics3DObject();
 graphics3DObject.addCoordinateSystem(0.8);
 if (regions != null)
 {
   Graphics3DObjectTools.addPlanarRegionsList(graphics3DObject, regions, YoAppearance.White(), YoAppearance.Grey(), YoAppearance.DarkGray());
   scs.setGroundVisible(false);
 }
 graphics3DObject.identity();
 graphics3DObject.translate(start);
 graphics3DObject.translate(0.0, 0.0, 0.05);
 graphics3DObject.addCone(0.3, 0.05, YoAppearance.Green());
 graphics3DObject.identity();
 graphics3DObject.translate(goal);
 graphics3DObject.translate(0.0, 0.0, 0.05);
 graphics3DObject.addCone(0.3, 0.05, YoAppearance.Red());
 scs.addStaticLinkGraphics(graphics3DObject);
 scs.setCameraPosition(-7.0, -1.0, 25.0);
 scs.setCameraFix(0.0, 0.0, 0.0);
 return scs;
}

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

SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
scs.setCameraPosition(8.0, -8.0, 5.0);
scs.setCameraFix(1.5, 0.0, 0.8);
assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(0.5));

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

scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
scs.setDT(1.0, 1);
scs.setCameraFix(0.4, 0.0, 0.0);

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

scs.setCameraFix(0.0, 0.0, 0.0);

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

scs.addYoGraphicsListRegistry(graphicsListRegistry);
scs.setCameraPosition(-0.01, 0.0, 10.0);
scs.setCameraFix(0.0, 0.0, 0.0);
scs.startOnAThread();
scs.play();

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

public static void visualizeSphereVoxelShape()
{
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Dummy"));
 scs.startOnAThread();
 Point3D sphereOrigin = new Point3D(0.0, 0.0, 1.0);
 scs.setCameraFix(sphereOrigin.getX(), sphereOrigin.getY(), sphereOrigin.getZ());
 double voxelSize = 0.10;
 int numberOfRays = 20;
 int numberOfRotationsAroundRay = 10;
 SphereVoxelShape sphereVoxelShape = new SphereVoxelShape(worldFrame, voxelSize, numberOfRays, numberOfRotationsAroundRay,
    SphereVoxelType.graspAroundSphere);
 for (int i = 0; i < sphereVoxelShape.getNumberOfRays(); i++)
 {
   for (int j = 0; j < sphereVoxelShape.getNumberOfRotationsAroundRay(); j++)
   {
    FrameVector3D translationFromVoxelOrigin = new FrameVector3D();
    FrameQuaternion orientation = new FrameQuaternion();
    sphereVoxelShape.getPose(translationFromVoxelOrigin, orientation, i, j);
    Graphics3DObject staticLinkGraphics = new Graphics3DObject();
    staticLinkGraphics.translate(sphereOrigin);
    staticLinkGraphics.translate(translationFromVoxelOrigin);
    RotationMatrix rotationMatrix = new RotationMatrix();
    rotationMatrix.set(orientation);
    staticLinkGraphics.rotate(rotationMatrix);
    staticLinkGraphics.addCoordinateSystem(0.05);
    scs.addStaticLinkGraphics(staticLinkGraphics);
   }
 }
}

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

scs.setCameraFix(0.0, 0.0, 1.0);
scs.setCameraPosition(8.0, 0.0, 3.0);
scs.startOnAThread();

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

scs.setCameraFix(0.0, 0.0, 1.0);
scs.setCameraPosition(8.0, 0.0, 3.0);
scs.startOnAThread();

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