Delete ReferenceFrameLibrary.

Author: calvertdw

ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTDetachableReferenceFrame.java

@@ -2,22 +2,23 @@
 
 import us.ihmc.euclid.referenceFrame.ReferenceFrame;
 import us.ihmc.robotics.referenceFrames.DetachableReferenceFrame;
-import us.ihmc.robotics.referenceFrames.ReferenceFrameLibrary;
+
+import java.util.function.Function;
 
 public class CRDTDetachableReferenceFrame
 {
    private final CRDTBidirectionalString parentFrameName;
    private final CRDTBidirectionalRigidBodyTransform transformToParent;
    private final DetachableReferenceFrame detachableReferenceFrame;
 
-   public CRDTDetachableReferenceFrame(ReferenceFrameLibrary referenceFrameLibrary,
+   public CRDTDetachableReferenceFrame(Function<String, ReferenceFrame> frameFunction,
                                        CRDTBidirectionalString parentFrameName,
                                        CRDTBidirectionalRigidBodyTransform transformToParent)
    {
       this.parentFrameName = parentFrameName;
       this.transformToParent = transformToParent;
 
-      detachableReferenceFrame = new DetachableReferenceFrame(referenceFrameLibrary, transformToParent.getValueReadOnly());
+      detachableReferenceFrame = new DetachableReferenceFrame(frameFunction, transformToParent.getValueReadOnly());
    }
 
    public void update()

ihmc-graphics/src/libgdx/java/us/ihmc/rdx/imgui/ImGuiReferenceFrameLibraryCombo.java

@@ -3,7 +3,6 @@
 import imgui.ImGui;
 import imgui.flag.ImGuiCol;
 import org.apache.commons.lang3.ArrayUtils;
-import us.ihmc.robotics.referenceFrames.ReferenceFrameLibrary;
 
 import java.util.SortedSet;
 import java.util.TreeSet;
@@ -14,12 +13,14 @@
  * Used to select between the reference frames in a library by human readable names.
  * It also includes any values that the user already might have and keeps those around
  * even if deselected. Also, this is done immediate mode style.
+ *
+ * TODO: Fix up with new design. Probably rename to be less general, like RDXBehaviorSceneFrameSelector...
  */
 public class ImGuiReferenceFrameLibraryCombo
 {
    private final ImGuiUniqueLabelMap labels = new ImGuiUniqueLabelMap(getClass());
    private final String comboName;
-   private final ReferenceFrameLibrary referenceFrameLibrary;
+   private final Consumer<Consumer<String>> frameSupplier;
    private final Supplier<String> currentFrameNameGetter;
    private final Consumer<String> currentFrameNameSetter;
    private final SortedSet<String> referenceFrameLibraryNames = new TreeSet<>();
@@ -29,20 +30,20 @@ public class ImGuiReferenceFrameLibraryCombo
    private transient String[] selectableReferenceFrameNameArray = new String[0];
 
    public ImGuiReferenceFrameLibraryCombo(String comboName,
-                                          ReferenceFrameLibrary referenceFrameLibrary,
+                                          Consumer<Consumer<String>> frameSupplier,
                                           Supplier<String> currentFrameNameGetter,
                                           Consumer<String> currentFrameNameSetter)
    {
       this.comboName = comboName;
-      this.referenceFrameLibrary = referenceFrameLibrary;
+      this.frameSupplier = frameSupplier;
       this.currentFrameNameGetter = currentFrameNameGetter;
       this.currentFrameNameSetter = currentFrameNameSetter;
    }
 
    public void render()
    {
       referenceFrameLibraryNames.clear();
-      referenceFrameLibrary.getAllFrameNames(referenceFrameLibraryNames::add);
+      frameSupplier.accept(referenceFrameLibraryNames::add);
 
       selectableReferenceFrameNames.add(currentFrameNameGetter.get());
       selectableReferenceFrameNames.addAll(referenceFrameLibraryNames);

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXAvailableBehaviorTreeFile.java

@@ -36,7 +36,7 @@ public void update()
       referenceFramesInWorld.clear();
       for (String referenceFrameName : referenceFrameNames)
       {
-         ReferenceFrame frameByName = scene.getReferenceFrameLibrary().findFrameByName(referenceFrameName);
+         ReferenceFrame frameByName = scene.findFrameByName(referenceFrameName);
          if (frameByName != null && frameByName.getRootFrame() == ReferenceFrame.getWorldFrame())
          {
             referenceFramesInWorld.add(referenceFrameName);

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXBehaviorTree.java

@@ -46,15 +46,16 @@ public class RDXBehaviorTree extends BehaviorTree<RDXBehaviorTreeRootNode, RDXBe
    private boolean draggingDivider;
    private boolean shouldSave = false;
 
-   public RDXBehaviorTree(WorkspaceResourceDirectory treeFilesDirectory,ROS2SyncedRobotModel syncedRobot,
+   public RDXBehaviorTree(WorkspaceResourceDirectory treeFilesDirectory,
+                          ROS2SyncedRobotModel syncedRobot,
                           ROS2PeerClockOffsetEstimator peerClockEstimator,
                           RobotCollisionModel selectionCollisionModel,
                           RDXBaseUI baseUI,
                           RDX3DPanel panel3D)
    {
       super(syncedRobot, ROS2ActorDesignation.OPERATOR, peerClockEstimator, treeFilesDirectory, new RDXBehaviorTreeNodeBuilder());
 
-      scene = new RDXBehaviorTreeScene(panel);
+      scene = new RDXBehaviorTreeScene(syncedRobot, panel);
 
       ((RDXBehaviorTreeNodeBuilder) getNodeBuilder()).initialize(crdtInfo,
                                                                  saveFileDirectory,

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXBehaviorTreeNode.java

@@ -13,6 +13,7 @@
 import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
 import us.ihmc.behaviors.behaviorTree.*;
 import us.ihmc.behaviors.behaviorTree.log.BehaviorTreeNodeMessageLogger.LogMessage;
+import us.ihmc.rdx.behaviorTree.scene.RDXBehaviorTreeScene;
 import us.ihmc.rdx.imgui.ImGuiTools;
 import us.ihmc.rdx.imgui.ImGuiUniqueLabelMap;
 import us.ihmc.rdx.input.ImGui3DViewInput;
@@ -21,7 +22,6 @@
 import us.ihmc.rdx.ui.tools.ImGuiScrollableLogArea;
 import us.ihmc.rdx.vr.RDXVRContext;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.robotics.referenceFrames.ReferenceFrameLibrary;
 
 import javax.annotation.Nullable;
 import java.util.ArrayList;
@@ -67,7 +67,7 @@ public class RDXBehaviorTreeNode<S extends BehaviorTreeNodeState<D>,
    private boolean dragReleasedAfter = false;
 
    protected final DRCRobotModel robotModel;
-   protected final ReferenceFrameLibrary referenceFrameLibrary;
+   protected final RDXBehaviorTreeScene scene;
    protected final ROS2SyncedRobotModel syncedRobot;
    protected final RobotCollisionModel selectionCollisionModel;
    protected final RDXBaseUI baseUI;
@@ -86,7 +86,7 @@ public RDXBehaviorTreeNode(S state, RDXBehaviorTreeRootNode rootNode)
       this.state = state;
       this.rootNode = rootNode;
       this.robotModel = rootNode.getDefinition().getRobotModel();
-      this.referenceFrameLibrary = rootNode.getState().getScene().getReferenceFrameLibrary();
+      this.scene = rootNode.getScene();
       this.syncedRobot = rootNode.getSyncedRobot();
       this.selectionCollisionModel = rootNode.getSelectionCollisionModel();
       this.baseUI = rootNode.getBaseUI();
@@ -104,7 +104,7 @@ public RDXBehaviorTreeNode(S state,
       this.state = state;
       this.rootNode = (RDXBehaviorTreeRootNode) this;
       this.robotModel = rootNode.getDefinition().getRobotModel();
-      this.referenceFrameLibrary = rootNode.getState().getScene().getReferenceFrameLibrary();
+      this.scene = rootNode.getScene();
       this.syncedRobot = syncedRobot;
       this.selectionCollisionModel = selectionCollisionModel;
       this.baseUI = baseUI;

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/RDXBehaviorTreeRootNode.java

@@ -235,6 +235,11 @@ public ROS2SyncedRobotModel getSyncedRobot()
       return syncedRobot;
    }
 
+   public RDXBehaviorTreeScene getScene()
+   {
+      return scene;
+   }
+
    public RobotCollisionModel getSelectionCollisionModel()
    {
       return selectionCollisionModel;

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/actions/RDXChestOrientationAction.java

@@ -61,7 +61,7 @@ public RDXChestOrientationAction(long id, RDXBehaviorTreeRootNode rootNode)
                                                          definition::setHoldPoseInWorldLater,
                                                          imBoolean -> ImGui.checkbox(labels.get("Hold pose in world later"), imBoolean));
       parentFrameComboBox = new ImGuiReferenceFrameLibraryCombo("Parent frame",
-                                                                referenceFrameLibrary,
+                                                                scene::getAllFrameNames,
                                                                 definition::getParentFrameName,
                                                                 state.getChestFrame()::changeFrame);
       yawWidget = new ImDoubleWrapper(definition.getRotationReadOnly()::getYaw, definition::setYaw,

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/actions/RDXFootPoseAction.java

@@ -54,7 +54,7 @@ public RDXFootPoseAction(long id, RDXBehaviorTreeRootNode rootNode)
       poseGizmo.create(panel3D);
 
       parentFrameComboBox = new ImGuiReferenceFrameLibraryCombo("Parent frame",
-                                                                referenceFrameLibrary,
+                                                                scene::getAllFrameNames,
                                                                 definition::getParentFrameName,
                                                                 state.getFootFrame()::changeFrame);
       trajectoryDurationWidget = new ImDoubleWrapper(definition::getTrajectoryDuration,

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/actions/RDXFootstepPlanAction.java

@@ -78,7 +78,7 @@ public RDXFootstepPlanAction(long id, RDXBehaviorTreeRootNode rootNode)
                                            RecyclingArrayListTools.getUnsafe(state.getManuallyPlacedFootsteps(), numberOfAllocatedFootsteps++)));
 
       parentFrameComboBox = new ImGuiReferenceFrameLibraryCombo("Parent frame",
-                                                                referenceFrameLibrary,
+                                                                scene::getAllFrameNames,
                                                                 definition::getParentFrameName,
                                                                 this::changeParentFrame);
       manuallyPlaceStepsWrapper = new ImBooleanWrapper(definition::getIsManuallyPlaced,

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/actions/RDXHandPoseAction.java

@@ -228,7 +228,7 @@ public RDXHandPoseAction(long id, RDXBehaviorTreeRootNode rootNode)
       }
 
       parentFrameComboBox = new ImGuiReferenceFrameLibraryCombo("Parent frame",
-                                                                referenceFrameLibrary,
+                                                                scene::getAllFrameNames,
                                                                 definition::getPalmParentFrameName,
                                                                 state.getPalmFrame()::changeFrame);