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

SimulationConstructionSet.addYoGraphic介绍

暂无

代码示例

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

public ReachabilitySphereMapCalculator(OneDoFJointBasics[] robotArmJoints, SimulationConstructionSet scs)
{
 this.scs = scs;
 solver = new ReachabilityMapSolver(robotArmJoints, null, registry);
 FramePose3D gridFramePose = new FramePose3D(ReferenceFrame.getWorldFrame(), robotArmJoints[0].getFrameBeforeJoint().getTransformToWorldFrame());
 gridFramePose.appendTranslation(getGridSizeInMeters() / 2.5, 0.0, 0.0);
 setGridFramePose(gridFramePose);
 scs.addStaticLinkGraphics(ReachabilityMapTools.createReachibilityColorScale());
 scs.addYoGraphic(gridFrameViz);
 scs.addYoGraphic(currentEvaluationPose);
 scs.addYoGraphic(currentEvaluationPosition);
 scs.addYoVariableRegistry(registry);
}

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

assertNotNull(graphics3DNodeFromSCS3);
GraphicsDynamicGraphicsObject graphicsDynamicGraphicsObjectFromSCS = scs.addYoGraphic(yoGraphic);
assertNotNull(graphicsDynamicGraphicsObjectFromSCS);
GraphicsDynamicGraphicsObject graphicsDynamicGraphicsObjectFromSCS2 = scs.addYoGraphic(yoGraphic, true);
assertNotNull(graphicsDynamicGraphicsObjectFromSCS2);
GraphicsDynamicGraphicsObject graphicsDynamicGraphicsObjectFromSCS3 = scs.addYoGraphic(yoGraphic, false);
assertNotNull(graphicsDynamicGraphicsObjectFromSCS3);

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

scs.addYoGraphic(coordinateSystem);

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

private void setupTest(DRCRobotModel robotModel) throws SimulationExceededMaximumTimeException, InterruptedException
{
 boolean runMultiThreaded = false;
 setupTrack(runMultiThreaded, robotModel);
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 pushRobotController = new PushRobotController(drcFlatGroundWalkingTrack.getAvatarSimulation().getHumanoidFloatingRootJointRobot(), fullRobotModel);
 if (VISUALIZE_FORCE)
 {
   drcFlatGroundWalkingTrack.getSimulationConstructionSet().addYoGraphic(pushRobotController.getForceVisualizer());
 }
 SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
 YoBoolean enable = (YoBoolean) scs.getVariable("PushRecoveryControlModule", "enablePushRecovery");
 // enable push recovery
 enable.set(true);
}

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

scs.addYoGraphic(coordinateSystem);

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

@Before
public void setup()
{
 MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(getClass().getSimpleName() + " before test.");
 FlatGroundEnvironment flatGround = new FlatGroundEnvironment();
 String className = getClass().getSimpleName();
 robotModel = getRobotModel();
 fullRobotModel = robotModel.createFullRobotModel();
 PrintTools.debug("simulationTestingParameters.getKeepSCSUp " + simulationTestingParameters.getKeepSCSUp());
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, getRobotModel());
 drcSimulationTestHelper.setTestEnvironment(flatGround);
 drcSimulationTestHelper.setStartingLocation(getStartingLocation());
 drcSimulationTestHelper.createSimulation(className);
 double z = getForcePointOffsetZInChestFrame();
 pushRobotController = new PushRobotController(drcSimulationTestHelper.getRobot(), fullRobotModel.getPelvis().getParentJoint().getName(), new Vector3D(0, 0, z));
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 scs.addYoGraphic(pushRobotController.getForceVisualizer());
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   @SuppressWarnings("unchecked") final YoEnum<ConstraintType> footConstraintType = (YoEnum<ConstraintType>) scs
      .getVariable(sidePrefix + "FootControlModule", sidePrefix + "FootCurrentState");
   @SuppressWarnings("unchecked") final YoEnum<WalkingStateEnum> walkingState = (YoEnum<WalkingStateEnum>) scs
      .getVariable(WalkingHighLevelHumanoidController.class.getSimpleName(), "walkingCurrentState");
   singleSupportStartConditions.put(robotSide, new SingleSupportStartCondition(footConstraintType));
 }
}

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

public PolygonSnapperVisualizer(ConvexPolygon2D snappingPolygonShape)
{
 Robot robot = new Robot("Robot");
 scs = new SimulationConstructionSet(robot);
 scs.setDT(0.1, 1);
 polygonToSnap = new YoFrameConvexPolygon2D("polygonToSnap", ReferenceFrame.getWorldFrame(), 4, registry);
 snappedPolygon = new YoFrameConvexPolygon2D("snappedPolygon", ReferenceFrame.getWorldFrame(), 4, registry);
 polygonToSnap.set(snappingPolygonShape);
 snappedPolygon.set(snappingPolygonShape);
 polygonToSnapPose = new YoFramePoseUsingYawPitchRoll("polygonToSnapPose", ReferenceFrame.getWorldFrame(), registry);
 snappedPolygonPose = new YoFramePoseUsingYawPitchRoll("snappedPolygonPose", ReferenceFrame.getWorldFrame(), registry);
 polygonToSnapPose.setToNaN();
 snappedPolygonPose.setToNaN();
 polygonToSnapViz = new YoGraphicPolygon("polygonToSnapViz", polygonToSnap, polygonToSnapPose, 1.0, YoAppearance.Green());
 snappedPolygonViz = new YoGraphicPolygon("snappedPolygonViz", polygonToSnap, snappedPolygonPose, 1.0, YoAppearance.Red());
 polygonToSnapViz.update();
 snappedPolygonViz.update();
 scs.addYoGraphic(polygonToSnapViz);
 scs.addYoGraphic(snappedPolygonViz);
 scs.addYoVariableRegistry(registry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

protected void setupTest(DRCRobotModel robotModel) throws SimulationExceededMaximumTimeException, InterruptedException
  {
   boolean runMultiThreaded = false;
   setupTrack(runMultiThreaded, robotModel);
   FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
   HumanoidFloatingRootJointRobot robot = drcFlatGroundWalkingTrack.getAvatarSimulation().getHumanoidFloatingRootJointRobot();
//      pushRobotController = new PushRobotController(robot, fullRobotModel);
   pushRobotController = new PushRobotController(robot, fullRobotModel.getChest().getParentJoint().getName(), new Vector3D(0, 0, getPushPointFromChestZOffset()));

   if (VISUALIZE_FORCE)
   {
     drcFlatGroundWalkingTrack.getSimulationConstructionSet().addYoGraphic(pushRobotController.getForceVisualizer());
   }

   SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
   YoBoolean enable = (YoBoolean) scs.getVariable("PushRecoveryControlModule", "enablePushRecovery");

   // enable push recovery
   enable.set(true);

   for (RobotSide robotSide : RobotSide.values)
   {
     String prefix = fullRobotModel.getFoot(robotSide).getName();
     scs.getVariable(prefix + "FootControlModule", prefix + "State");
     @SuppressWarnings("unchecked")
     final YoEnum<WalkingStateEnum> walkingState = (YoEnum<WalkingStateEnum>) scs.getVariable("WalkingHighLevelHumanoidController", "walkingState");
     doubleSupportStartConditions.put(robotSide, new DoubleSupportStartCondition(walkingState, robotSide));
   }
  }

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

PushRobotController pushController = new PushRobotController(drcSimulationTestHelper.getRobot(), pushJointName, new Vector3D(),
                               1.0 / forceMagnitude);
drcSimulationTestHelper.getSimulationConstructionSet().addYoGraphic(pushController.getForceVisualizer());
pushController.applyForce(new Vector3D(0.0, 0.0, 1.0), forceMagnitude, Double.POSITIVE_INFINITY);

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

private void setupTest() throws SimulationExceededMaximumTimeException
{
 DRCRobotModel robotModel = getRobotModel();
 FlatGroundEnvironment flatGround = new FlatGroundEnvironment();
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, robotModel, flatGround);
 drcSimulationTestHelper.createSimulation("DRCSimpleFlatGroundScriptTest");
 FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
 pushRobotController = new PushRobotController(drcSimulationTestHelper.getRobot(), fullRobotModel);
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 scs.addYoGraphic(pushRobotController.getForceVisualizer());
 drcSimulationTestHelper.setupCameraForUnitTest(new Point3D(0.6, 0.0, 0.6), new Point3D(10.0, 3.0, 3.0));
 // get YoVariables
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String footPrefix = sidePrefix + "Foot";
   @SuppressWarnings("unchecked")
   final YoEnum<ConstraintType> footConstraintType = (YoEnum<ConstraintType>) scs.getVariable(sidePrefix + "FootControlModule",
      footPrefix + "CurrentState");
   @SuppressWarnings("unchecked")
   final YoEnum<WalkingStateEnum> walkingState = (YoEnum<WalkingStateEnum>) scs.getVariable("WalkingHighLevelHumanoidController",
      "walkingCurrentState");
   swingStartConditions.put(robotSide, new SingleSupportStartCondition(footConstraintType));
   swingFinishConditions.put(robotSide, new DoubleSupportStartCondition(walkingState, robotSide));
 }
 assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0));
 YoBoolean enable = (YoBoolean) scs.getVariable("PushRecoveryControlModule", "enablePushRecovery");
 enable.set(true);
}

代码示例来源：origin: us.ihmc/valkyrie

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

PushRobotController pushController = new PushRobotController(drcSimulationTestHelper.getRobot(), pushJointName, new Vector3D(0, 0, zOffset),
                               1.0 / forceMagnitude);
drcSimulationTestHelper.getSimulationConstructionSet().addYoGraphic(pushController.getForceVisualizer());
pushController.applyForce(new Vector3D(1.0, 0.0, 0.0), forceMagnitude, Double.POSITIVE_INFINITY);

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

protected void setupAndRunTest(FootstepDataListMessage message) throws SimulationExceededMaximumTimeException, ControllerFailureException
{
 FlatGroundEnvironment flatGround = new FlatGroundEnvironment();
 drcSimulationTestHelper = new DRCSimulationTestHelper(simulationTestingParameters, getRobotModel());
 drcSimulationTestHelper.setTestEnvironment(flatGround);
 drcSimulationTestHelper.createSimulation("DRCSimpleFlatGroundScriptTest");
 FullHumanoidRobotModel fullRobotModel = getRobotModel().createFullRobotModel();
 totalMass = fullRobotModel.getTotalMass();
 double z = getForcePointOffsetZInChestFrame();
 pushRobotController = new PushRobotController(drcSimulationTestHelper.getRobot(), fullRobotModel.getChest().getParentJoint().getName(),
                        new Vector3D(0, 0, z));
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 scs.addYoGraphic(pushRobotController.getForceVisualizer());
 drcSimulationTestHelper.simulateAndBlock(0.5);
 drcSimulationTestHelper.publishToController(message);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String footPrefix = sidePrefix + "Foot";
   @SuppressWarnings("unchecked")
   final YoEnum<ConstraintType> footConstraintType = (YoEnum<ConstraintType>) scs.getVariable(sidePrefix + "FootControlModule", footPrefix + "CurrentState");
   @SuppressWarnings("unchecked")
   final YoEnum<WalkingStateEnum> walkingState = (YoEnum<WalkingStateEnum>) scs.getVariable("WalkingHighLevelHumanoidController", "walkingCurrentState");
   singleSupportStartConditions.put(robotSide, new SingleSupportStartCondition(footConstraintType));
   doubleSupportStartConditions.put(robotSide, new DoubleSupportStartCondition(walkingState, robotSide));
 }
 setupCamera();
 ThreadTools.sleep(1000);
}

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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

scs.addYoGraphic(pushRobotController.getForceVisualizer());

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