Java BagOfBalls Examples

Example #1

File: CirclePoseTrajectoryGenerator.java Project: wxmerkt/ihmc-open-robotics-software

  private void visualizeTrajectory() {
    yoInitialPosition.getFrameTupleIncludingFrame(initialPosition);
    yoInitialPositionWorld.setAndMatchFrame(initialPosition);
    yoFinalPosition.getFrameTupleIncludingFrame(finalPosition);
    yoFinalPositionWorld.setAndMatchFrame(finalPosition);

    for (int i = 0; i < numberOfBalls; i++) {
      double t = (double) i / ((double) numberOfBalls - 1) * desiredTrajectoryTime.getDoubleValue();
      compute(t, false);
      yoCurrentPosition.getFrameTupleIncludingFrame(ballPosition);
      ballPosition.changeFrame(worldFrame);
      bagOfBalls.setBallLoop(ballPosition);
    }
    reset();
  }

Example #2

File: TwoWaypointSwingGenerator.java Project: ihmcrobotics/ihmc-open-robotics-software

  private void visualize() {
    if (waypointViz == null) return;

    for (int i = 0; i < numberWaypoints; i++) waypointViz.setBall(waypointPositions.get(i), i);
  }