void Box2DSystem::addWallsOnScreen() { float width = meters(window.getSize().x); float height = meters(window.getSize().y); float halfwidth = width / 2; float halfheight = height / 2; const float wallsz = 15_px; createStaticBox(halfwidth, wallsz, halfwidth, wallsz); //Top wall createStaticBox(wallsz, halfheight, wallsz, halfheight); //Left wall createStaticBox(width-wallsz, halfheight, wallsz, halfheight);//Right wall createStaticBox(halfwidth, height-wallsz, halfwidth, wallsz); //Bottom wall }
void singlePlanner::displayPlan(const string &color) { printf("\n===============================\n"); cout<<"DISPLAY PLAN"<<endl; int indexFirstObsSet = 0; if (robot == "icubSim") indexFirstObsSet = 2; // Do not display robot and table else indexFirstObsSet = 1; // Do not display robot if (controlPoint == "End-effector") { for (int j=indexFirstObsSet; j<obsSet.size(); j++) // Do not display the robot itself { createStaticBox(obsSet[j],"obstacle"); } } // for (int i=0; i<bestTraj.size(); i++) // { // createStaticSphere(0.03, bestTraj[i], color); // } if (controlPoint == "End-effector") createStaticBox(target,"goal"); }