Removed one of the height map graphics and only allow for the RDXHeig…

…htMapRender in the UI

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/RDXGPUHeightMapBodyPathPlanningDemo.java

@@ -35,7 +35,7 @@
 import us.ihmc.rdx.ui.affordances.RDXInteractableReferenceFrame;
 import us.ihmc.rdx.ui.gizmo.RDXSelectablePose3DGizmo;
 import us.ihmc.rdx.ui.graphics.RDXBodyPathPlanGraphic;
-import us.ihmc.rdx.ui.graphics.RDXHeightMapGraphicNew;
+import us.ihmc.rdx.ui.graphics.RDXGridMapGraphic;
 import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.robotics.robotSide.SideDependentList;
 import us.ihmc.sensorProcessing.heightMap.HeightMapData;
@@ -55,7 +55,7 @@ public class RDXGPUHeightMapBodyPathPlanningDemo
    private RDXInteractableReferenceFrame robotInteractableReferenceFrame;
    private RDXSelectablePose3DGizmo ousterPoseGizmo;
    private RDXEnvironmentBuilder environmentBuilder;
-   private RDXHeightMapGraphicNew heightMapGraphic;
+   private RDXGridMapGraphic heightMapGraphic;
    private SimpleGPUHeightMapParameters simpleGPUHeightMapParameters;
    private SimpleGPUHeightMapUpdater simpleGPUHeightMapUpdater;
    private RosMainNode ros1Node;
@@ -138,7 +138,7 @@ public void create()
                heightMapUpdater = new AlternateHeightMapUpdater();
             }
 
-            heightMapGraphic = new RDXHeightMapGraphicNew();
+            heightMapGraphic = new RDXGridMapGraphic();
             baseUI.getPrimaryScene().addRenderableProvider(heightMapGraphic, RDXSceneLevel.VIRTUAL);
             baseUI.getImGuiPanelManager().addPanel("Height Map", this::renderHeightMapImGuiWidgets);
 

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/RDXGlobalHeightMapGraphic.java

@@ -5,46 +5,38 @@
 import com.badlogic.gdx.utils.IntMap;
 import com.badlogic.gdx.utils.Pool;
 import perception_msgs.msg.dds.HeightMapMessage;
-import us.ihmc.sensorProcessing.globalHeightMap.GlobalHeightMap;
-import us.ihmc.sensorProcessing.globalHeightMap.GlobalMapTile;
-import us.ihmc.sensorProcessing.heightMap.HeightMapData;
-import us.ihmc.sensorProcessing.heightMap.HeightMapMessageTools;
 import us.ihmc.tools.thread.MissingThreadTools;
 import us.ihmc.tools.thread.ResettableExceptionHandlingExecutorService;
 
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.HashMap;
-
 /**
  * Creates a graphic for the GPU Height Map to be visualized in the RDX UI. Each height value from the height map is turned into a 2cm polygon that is then
  * visualized on the UI. The height value location will be in the center of the 2cm polygon that is visualized.
  */
 public class RDXGlobalHeightMapGraphic implements RenderableProvider
 {
-   private final IntMap<RDXHeightMapGraphicNew> globalMapRenderables = new IntMap<>();
+   private final IntMap<RDXGridMapGraphic> globalMapRenderables = new IntMap<>();
 
    private final ResettableExceptionHandlingExecutorService executorService = MissingThreadTools.newSingleThreadExecutor(getClass().getSimpleName(), true, 1);
 
    public void update()
    {
-      for (RDXHeightMapGraphicNew mapRenderables : globalMapRenderables.values())
+      for (RDXGridMapGraphic mapRenderables : globalMapRenderables.values())
          mapRenderables.update();
    }
 
    public void generateMeshesAsync(HeightMapMessage heightMapMessage, int tileKey)
    {
 
-      RDXHeightMapGraphicNew graphic = getOrCreateHeightMapGraphic(tileKey);
+      RDXGridMapGraphic graphic = getOrCreateHeightMapGraphic(tileKey);
       graphic.generateMeshesAsync(heightMapMessage);
    }
 
-   private RDXHeightMapGraphicNew getOrCreateHeightMapGraphic(int tileKey)
+   private RDXGridMapGraphic getOrCreateHeightMapGraphic(int tileKey)
    {
-      RDXHeightMapGraphicNew graphic = globalMapRenderables.get(tileKey);
+      RDXGridMapGraphic graphic = globalMapRenderables.get(tileKey);
       if (graphic == null)
       {
-         graphic = new RDXHeightMapGraphicNew();
+         graphic = new RDXGridMapGraphic();
          globalMapRenderables.put(tileKey, graphic);
       }
 
@@ -54,14 +46,14 @@ private RDXHeightMapGraphicNew getOrCreateHeightMapGraphic(int tileKey)
    @Override
    public void getRenderables(Array<Renderable> renderables, Pool<Renderable> pool)
    {
-      for (RDXHeightMapGraphicNew mapRenderables : globalMapRenderables.values())
+      for (RDXGridMapGraphic mapRenderables : globalMapRenderables.values())
          mapRenderables.getRenderables(renderables, pool);
    }
 
    public void destroy()
    {
       executorService.destroy();
-      for (RDXHeightMapGraphicNew mapRenderables : globalMapRenderables.values())
+      for (RDXGridMapGraphic mapRenderables : globalMapRenderables.values())
          mapRenderables.destroy();
    }
 }

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/RDXGridMapGraphic.java

@@ -31,10 +31,6 @@
 import java.util.function.IntFunction;
 import java.util.function.IntToDoubleFunction;
 
-/**
- * This class has been replaced with a newer implementation called {@link RDXHeightMapGraphicNew}, please use that going forward and use this one only for
- * reference
- */
 @Deprecated
 public class RDXGridMapGraphic implements RenderableProvider
 {
@@ -59,10 +55,6 @@ public class RDXGridMapGraphic implements RenderableProvider
 
    private static final double zForInPainting = 0.95;
 
-   public void clear()
-   {
-   }
-
    public void update()
    {
       createModelFromMeshBuilders();

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/RDXSteppableRegionGraphic.java

@@ -36,9 +36,6 @@ public class RDXSteppableRegionGraphic implements RenderableProvider
 
    public void clear()
    {
-      for (int i = 0; i < gridMapGraphics.size(); i++)
-         gridMapGraphics.get(i).clear();
-
       regionGraphics.clear();
       gridMapGraphics.clear();
    }