us.ihmc.yoVariables.variable.YoFramePoint3D.getX()方法的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.yoVariables.variable.YoFramePoint3D.getX()方法的一些代码示例，展示了YoFramePoint3D.getX()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。YoFramePoint3D.getX()方法的具体详情如下：
包路径：us.ihmc.yoVariables.variable.YoFramePoint3D
类名称：YoFramePoint3D
方法名：getX

YoFramePoint3D.getX介绍

暂无

代码示例

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

public double getX()
{
 return getPosition().getX();
}

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

public void getProjectedOntoXYPlane(YoFramePoint2D positionToPack)
{
 positionToPack.set(currentPosition.getX(), currentPosition.getY());
}

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

private void setupSlidersForSupportBaseControl()
{
 int sliderChannel = 1;
 for (int i = 0; i < baseControlPoints.length; i++)
 {
   YoFramePoint3D baseControlPoint = baseControlPoints[i];
   sliderBoard.setSlider(sliderChannel++, baseControlPoint.getYoX(), baseControlPoint.getX() - 2, baseControlPoint.getX() + 2);
   sliderBoard.setSlider(sliderChannel++, baseControlPoint.getYoY(), baseControlPoint.getY() - 2, baseControlPoint.getY() + 2);
 }
}

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

private void setupSlidersForSupportBaseTargetControl()
{
 int sliderChannel = 1;
 for (int i = 0; i < baseControlTargetPoints.length; i++)
 {
   YoFramePoint3D baseControlTargetPoint = baseControlTargetPoints[i];
   sliderBoard.setSlider(sliderChannel++, baseControlTargetPoint.getYoX(), baseControlTargetPoint.getX() - 2, baseControlTargetPoint.getX() + 2);
   sliderBoard.setSlider(sliderChannel++, baseControlTargetPoint.getYoY(), baseControlTargetPoint.getY() - 2, baseControlTargetPoint.getY() + 2);
 }
}

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

public void handleClick(Point3D intersectionPosition, Point3D cameraPosition)
{
 LaunchedBall nextBall = poolOfBalls.get(nextBallIndex);
 final double ballVelocityMagnitude = directedPerturbance.getBallVelocityMagnitude();
 tempPoint.set(ballTarget.getX(), ballTarget.getY(), ballTarget.getZ());
 Point3D initialPosition = computeInitialPosition(intersectionPosition, ballTarget.getZ());
 final Point3D finalPosition = computeFinalPosition(initialPosition, ballVelocityMagnitude);
 nextBall.launch(initialPosition, finalPosition, directedPerturbance.getBallMass(), ballVelocityMagnitude);
 nextBallIndex++;
 if (nextBallIndex >= poolOfBalls.size())
 {
   nextBallIndex = 0;
 }
}

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

private Point3D computeFinalPosition(Point3D initialPosition, double ballVelocityMagnitude)
{
 tempPoint.set(ballTarget.getX(), ballTarget.getY(), ballTarget.getZ());
 double distance = initialPosition.distance(tempPoint);
 double estimatedCollisionTime = distance / ballVelocityMagnitude;
 Point3D ret = new Point3D(ballTargetVelocity);
 ret.scale(estimatedCollisionTime);
 ret.add(tempPoint);
 return ret;
}

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

@Override
protected void updateTransformToParent(RigidBodyTransform transformToParent)
{
 yoFramePose.getOrientation().getQuaternion(rotation);
 transformToParent.setRotation(rotation);
 YoFramePoint3D yoFramePoint = yoFramePose.getPosition();
 transformToParent.setTranslation(yoFramePoint.getX(), yoFramePoint.getY(), yoFramePoint.getZ());
}

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

@Override
public double[] getMessageValues()
{
 return new double[]
 {
   force.getX(), force.getY(), force.getZ(), position.getX(), position.getY(), position.getZ(),
   groundContactPoint.getYoFootSwitch().getDoubleValue()
 };
}

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

private void initializePolynomials()
{
 xPolynomial.setInitialPositionVelocityZeroFinalHighOrderDerivatives(0.0, trajectoryTime.getDoubleValue(), initialPosition.getX(), initialVelocity.getX(), finalPosition.getX(), finalVelocity.getX());
 yPolynomial.setInitialPositionVelocityZeroFinalHighOrderDerivatives(0.0, trajectoryTime.getDoubleValue(), initialPosition.getY(), initialVelocity.getY(), finalPosition.getY(), finalVelocity.getY());
 zPolynomial.setInitialPositionVelocityZeroFinalHighOrderDerivatives(0.0, trajectoryTime.getDoubleValue(), initialPosition.getZ(), initialVelocity.getZ(), finalPosition.getZ(), finalVelocity.getZ());
}

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

@Override
public void initialize()
{
 currentTime.set(0.0);
 double tIntermediate = trajectoryTime.getDoubleValue() / 2.0;
 xPolynomial.setQuadraticWithFinalVelocityConstraint(0.0,trajectoryTime.getDoubleValue(), initialPosition.getX(), finalPosition.getX(), finalVelocity.getX());
 yPolynomial.setQuadraticWithFinalVelocityConstraint(0.0,trajectoryTime.getDoubleValue(), initialPosition.getY(), finalPosition.getY(), finalVelocity.getY());
 zPolynomial.setCubicWithIntermediatePositionAndFinalVelocityConstraint(0.0,  tIntermediate, trajectoryTime.getDoubleValue(), initialPosition.getZ(), intermediateZPosition.getDoubleValue(), finalPosition.getZ(), finalVelocity.getZ());
 currentPosition.set(initialPosition);
 currentAcceleration.setToZero();
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

endPose.setPosition(new FramePoint2D(worldFrame, targetLocation.getX(), targetLocation.getY()));
endPose.setOrientation(new FrameOrientation2D(worldFrame, targetOrientation.getYaw().getDoubleValue()));

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testComputeDesiredCapturePointAcceleration()
{
 YoFramePoint3D initialCapturePointPosition = new YoFramePoint3D("", ReferenceFrame.getWorldFrame(), registry);
 YoFramePoint3D initialCenterOfPressure = new YoFramePoint3D("3", ReferenceFrame.getWorldFrame(), registry);
 YoFrameVector3D computedCapturePointVelocity = new YoFrameVector3D("5", ReferenceFrame.getWorldFrame(), registry);
 YoFrameVector3D desiredCapturePointAcceleration = new YoFrameVector3D("6", ReferenceFrame.getWorldFrame(), registry);
 for (int i = 0; i < nTests; i++)
 {
   initialCapturePointPosition.set(random.nextDouble(), random.nextDouble(), 0);
   initialCenterOfPressure.set(initialCapturePointPosition.getX() + 0.02, initialCapturePointPosition.getY() + 0.01, 0);
   double time = random.nextDouble() * 0.1 + 0.05;
   double omega0 = 0.5;
   CapturePointTools.computeDesiredCapturePointVelocity(omega0, time, initialCapturePointPosition, initialCenterOfPressure, computedCapturePointVelocity);
   CapturePointTools.computeDesiredCapturePointAcceleration(omega0, time, initialCapturePointPosition, initialCenterOfPressure,
      desiredCapturePointAcceleration);
   computedCapturePointVelocity.scale(omega0);
   EuclidCoreTestTools.assertTuple3DEquals("", computedCapturePointVelocity, desiredCapturePointAcceleration, 1e-10);
   computedCapturePointVelocity.scale(1 / omega0);
   CapturePointTools.computeDesiredCapturePointAcceleration(omega0, computedCapturePointVelocity, desiredCapturePointAcceleration);
   computedCapturePointVelocity.scale(omega0);
   EuclidCoreTestTools.assertTuple3DEquals("", computedCapturePointVelocity, desiredCapturePointAcceleration, 1e-10);
 }
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testComputeDesiredCapturePointVelocity()
{
 YoFramePoint3D initialCapturePointPosition = new YoFramePoint3D("", ReferenceFrame.getWorldFrame(), registry);
 YoFramePoint3D computedCapturePoint1 = new YoFramePoint3D("1", ReferenceFrame.getWorldFrame(), registry);
 YoFramePoint3D computedCapturePoint2 = new YoFramePoint3D("2", ReferenceFrame.getWorldFrame(), registry);
 YoFramePoint3D initialCenterOfPressure = new YoFramePoint3D("3", ReferenceFrame.getWorldFrame(), registry);
 YoFrameVector3D differentiatedCapturePointPosition = new YoFrameVector3D("4", ReferenceFrame.getWorldFrame(), registry);
 YoFrameVector3D computedCapturePointVelocity = new YoFrameVector3D("5", ReferenceFrame.getWorldFrame(), registry);
 for (int i = 0; i < nTests; i++)
 {
   initialCapturePointPosition.set(random.nextDouble(), random.nextDouble(), 0);
   initialCenterOfPressure.set(initialCapturePointPosition.getX() + 0.02, initialCapturePointPosition.getY() + 0.01, 0);
   double deltaT = 0.001;
   double time = random.nextDouble() * 0.1 + 0.05;
   double omega0 = 0.5;
   CapturePointTools.computeDesiredCapturePointPosition(omega0, time, initialCapturePointPosition, initialCenterOfPressure, computedCapturePoint1);
   CapturePointTools.computeDesiredCapturePointPosition(omega0, time + deltaT, initialCapturePointPosition, initialCenterOfPressure,
      computedCapturePoint2);
   differentiatedCapturePointPosition.set(computedCapturePoint2);
   differentiatedCapturePointPosition.sub(computedCapturePoint1);
   differentiatedCapturePointPosition.scale(1 / deltaT);
   CapturePointTools.computeDesiredCapturePointVelocity(omega0, time + deltaT, initialCapturePointPosition, initialCenterOfPressure,
      computedCapturePointVelocity);
   EuclidCoreTestTools.assertTuple3DEquals("", computedCapturePointVelocity, differentiatedCapturePointPosition, 1e-3);
 }
}

代码示例来源：origin: us.ihmc/ihmc-graphics-description

@Override
public Artifact createArtifact()
{
 MutableColor color3f = appearance.getColor();
 YoDouble endPointX = new YoDouble(getName() + "ArtifactEndPointX", base.getYoX().getYoVariableRegistry());
 YoDouble endPointY = new YoDouble(getName() + "ArtifactEndPointY", base.getYoY().getYoVariableRegistry());
 base.getYoX().addVariableChangedListener(v -> endPointX.set(base.getX() + vector.getX()));
 base.getYoY().addVariableChangedListener(v -> endPointY.set(base.getY() + vector.getY()));
 vector.getYoX().addVariableChangedListener(v -> endPointX.set(base.getX() + vector.getX()));
 vector.getYoY().addVariableChangedListener(v -> endPointY.set(base.getY() + vector.getY()));
 return new YoArtifactLineSegment2d(getName(),
                   new YoFrameLineSegment2D(base.getYoX(), base.getYoY(), endPointX, endPointY, ReferenceFrame.getWorldFrame()),
                   color3f.get());
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

Assert.assertEquals(integratedCoMPosition.getX(), desiredCoMPosition.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), desiredCoMPosition.getY(), epsilon);
Assert.assertEquals(integratedCoMPosition.getX(), finalCoM.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), finalCoM.getY(), epsilon);

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

Assert.assertEquals(integratedCoMPosition.getX(), desiredCoMPosition.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), desiredCoMPosition.getY(), epsilon);
Assert.assertEquals(integratedCoMPosition.getX(), finalCoM.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), finalCoM.getY(), epsilon);

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

Assert.assertEquals(integratedCoMPosition.getX(), desiredCoMPosition.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), desiredCoMPosition.getY(), epsilon);
Assert.assertEquals(integratedCoMPosition.getX(), finalCoM.getX(), epsilon);
Assert.assertEquals(integratedCoMPosition.getY(), finalCoM.getY(), epsilon);

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