本文整理了Java中us.ihmc.yoVariables.variable.YoFrameVector3D.<init>()
方法的一些代码示例,展示了YoFrameVector3D.<init>()
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。YoFrameVector3D.<init>()
方法的具体详情如下:
包路径:us.ihmc.yoVariables.variable.YoFrameVector3D
类名称:YoFrameVector3D
方法名:<init>
[英]Creates a new YoFrameVector3D.
[中]创建新的YoFrameVector3D。
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoVelocityProvider(String name, ReferenceFrame referenceFrame, YoVariableRegistry registry)
{
this.frameVector = new YoFrameVector3D(name, referenceFrame, registry);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
private static YoFrameVector3D createDirectionVector(String name, YoVariableRegistry registry)
{
YoFrameVector3D directionVector = new YoFrameVector3D(name, "Direction", ReferenceFrame.getWorldFrame(), registry);
return directionVector;
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoParabolicTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, YoVariableRegistry parentRegistry)
{
this.registry = new YoVariableRegistry(namePrefix + nameSuffix);
this.referenceFrame = referenceFrame;
c0 = new YoFrameVector3D("c0", "", referenceFrame, registry);
c1 = new YoFrameVector3D("c1", "", referenceFrame, registry);
c2 = new YoFrameVector3D("c2", "", referenceFrame, registry);
tempInitialize = new FrameVector3D(referenceFrame);
tempPackPosition = new FramePoint3D(referenceFrame);
parentRegistry.addChild(registry);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoIMUMahonyFilter(String imuName, String namePrefix, String nameSuffix, double updateDT, ReferenceFrame sensorFrame,
YoVariableRegistry parentRegistry)
{
this.updateDT = updateDT;
this.sensorFrame = sensorFrame;
YoVariableRegistry registry = new YoVariableRegistry(imuName + "MahonyFilter");
parentRegistry.addChild(registry);
estimatedOrientation = new YoFrameQuaternion(namePrefix, nameSuffix, sensorFrame, registry);
estimatedAngularVelocity = new YoFrameVector3D(namePrefix, nameSuffix, sensorFrame, registry);
yoErrorTerm = new YoFrameVector3D("ErrorTerm", nameSuffix, sensorFrame, registry);
yoIntegralTerm = new YoFrameVector3D("IntegralTerm", nameSuffix, sensorFrame, registry);
proportionalGain = new YoDouble("ProportionalGain" + nameSuffix, registry);
integralGain = new YoDouble("IntegralGain" + nameSuffix, registry);
hasBeenInitialized = new YoBoolean("HasBeenInitialized" + nameSuffix, registry);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public EuclideanPositionController(String prefix, ReferenceFrame bodyFrame, double dt, YoPID3DGains gains, YoVariableRegistry parentRegistry)
{
this.dt = dt;
this.bodyFrame = bodyFrame;
registry = new YoVariableRegistry(prefix + getClass().getSimpleName());
if (gains == null)
gains = new DefaultYoPID3DGains(prefix, GainCoupling.NONE, true, registry);
this.gains = gains;
positionError = new YoFrameVector3D(prefix + "PositionError", bodyFrame, registry);
positionErrorCumulated = new YoFrameVector3D(prefix + "PositionErrorCumulated", bodyFrame, registry);
velocityError = new YoFrameVector3D(prefix + "LinearVelocityError", bodyFrame, registry);
proportionalTerm = new FrameVector3D(bodyFrame);
derivativeTerm = new FrameVector3D(bodyFrame);
integralTerm = new FrameVector3D(bodyFrame);
feedbackLinearAction = new YoFrameVector3D(prefix + "FeedbackLinearAction", bodyFrame, registry);
rateLimitedFeedbackLinearAction = new RateLimitedYoFrameVector(prefix + "RateLimitedFeedbackLinearAction", "", registry, gains.getYoMaximumFeedbackRate(),
dt, feedbackLinearAction);
parentRegistry.addChild(registry);
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public YoGraphicCylinder(String name, YoDouble baseX, YoDouble baseY, YoDouble baseZ, YoDouble x, YoDouble y, YoDouble z, AppearanceDefinition appearance,
double lineThickness)
{
super(name);
base = new YoFramePoint3D(baseX, baseY, baseZ, ReferenceFrame.getWorldFrame());
vector = new YoFrameVector3D(x, y, z, ReferenceFrame.getWorldFrame());
this.lineThickness = lineThickness;
this.appearance = appearance;
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public YoGraphicVector(String name, YoDouble baseX, YoDouble baseY, YoDouble baseZ, YoDouble x, YoDouble y, YoDouble z, double scaleFactor,
AppearanceDefinition appearance, boolean drawArrowhead)
{
super(name);
base = new YoFramePoint3D(baseX, baseY, baseZ, ReferenceFrame.getWorldFrame());
vector = new YoFrameVector3D(x, y, z, ReferenceFrame.getWorldFrame());
this.drawArrowhead = drawArrowhead;
this.scaleFactor = scaleFactor;
this.appearance = appearance;
}
代码示例来源:origin: us.ihmc/simulation-construction-set-tools
public GroundContactPointsSlipper(String registryPrefix)
{
registry = new YoVariableRegistry(registryPrefix + getClass().getSimpleName());
groundContactPointsToSlip = new ArrayList<GroundContactPoint>();
slipAmount = new YoFrameVector3D("slipAmount", ReferenceFrame.getWorldFrame(), registry);
slipRotation = new YoFrameYawPitchRoll("slipRotation", ReferenceFrame.getWorldFrame(), registry);
percentToSlipPerTick = new YoDouble("percentToSlipPerTick", registry);
doSlip = new YoBoolean("doSlip", registry);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public FilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleProvider alpha, double dt, YoVariableRegistry registry,
ReferenceFrame referenceFrame)
{
super(namePrefix, nameSuffix, referenceFrame, registry);
this.alphaProvider = alpha;
this.dt = dt;
hasBeenCalled = new YoBoolean(namePrefix + nameSuffix + "HasBeenCalled", registry);
currentPosition = null;
lastPosition = new YoFrameVector3D(namePrefix + "_lastPosition", nameSuffix, getReferenceFrame(), registry);
reset();
}
代码示例来源:origin: us.ihmc/simulation-construction-set-tools
public RandomExternalForceApplier(ForcePerturbable perturbable, double maximalDisturbanceMagnitude, String name)
{
this.perturbable = perturbable;
this.name = name;
this.maximalDisturbanceMagnitude = new YoDouble("maximalDisturbanceMagnitude", registry);
this.maximalDisturbanceMagnitude.set(maximalDisturbanceMagnitude);
this.currentDisturbanceForce = new YoFrameVector3D("currentDisturbanceForce", "", ReferenceFrame.getWorldFrame(), registry);
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces-test
public AngularMomentumSpy(DRCSimulationTestHelper simulationTestHelper)
{
YoVariableRegistry scsRegistry = drcSimulationTestHelper.getYoVariableRegistry();
drcSimulationTestHelper.addRobotControllerOnControllerThread(this);
floatingRootJointModel = drcSimulationTestHelper.getRobot();
rootJoint = floatingRootJointModel.getRootJoint();
comAngularMomentum = new YoFrameVector3D("CoMAngularMomentum", worldFrame, scsRegistry);
comEstimatedAngularMomentum = new YoFrameVector3D("CoMEstimatedAngularMomentum", worldFrame, scsRegistry);
scs = drcSimulationTestHelper.getSimulationConstructionSet();
swTraj = new YoPolynomial3D("SwingFootTraj", 4, scsRegistry);
comTraj = new YoPolynomial3D("CoMTraj", 4, scsRegistry);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public FilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleProvider alpha, double dt, YoVariableRegistry registry,
FrameTuple3DReadOnly frameTuple3DToDifferentiate)
{
super(namePrefix, nameSuffix, frameTuple3DToDifferentiate.getReferenceFrame(), registry);
this.alphaProvider = alpha;
this.dt = dt;
hasBeenCalled = new YoBoolean(namePrefix + nameSuffix + "HasBeenCalled", registry);
currentPosition = frameTuple3DToDifferentiate;
lastPosition = new YoFrameVector3D(namePrefix + "_lastPosition", nameSuffix, getReferenceFrame(), registry);
reset();
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoIMUMahonyFilter(String imuName, String nameSuffix, double updateDT, ReferenceFrame sensorFrame, YoFrameQuaternion estimatedOrientation,
YoFrameVector3D estimatedAngularVelocity, YoVariableRegistry parentRegistry)
{
this.updateDT = updateDT;
this.sensorFrame = sensorFrame;
YoVariableRegistry registry = new YoVariableRegistry(imuName + "MahonyFilter");
parentRegistry.addChild(registry);
estimatedOrientation.checkReferenceFrameMatch(sensorFrame);
if (estimatedAngularVelocity != null)
estimatedAngularVelocity.checkReferenceFrameMatch(sensorFrame);
this.estimatedOrientation = estimatedOrientation;
this.estimatedAngularVelocity = estimatedAngularVelocity;
yoErrorTerm = new YoFrameVector3D("ErrorTerm", nameSuffix, sensorFrame, registry);
yoIntegralTerm = new YoFrameVector3D("IntegralTerm", nameSuffix, sensorFrame, registry);
proportionalGain = new YoDouble("ProportionalGain" + nameSuffix, registry);
integralGain = new YoDouble("IntegralGain" + nameSuffix, registry);
hasBeenInitialized = new YoBoolean("HasBeenInitialized" + nameSuffix, registry);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public ParabolicWithFinalVelocityConstrainedPositionTrajectoryGenerator(String name, ReferenceFrame referenceFrame, YoVariableRegistry parentRegistry)
{
registry = new YoVariableRegistry(name);
initialPosition = new YoFramePoint3D(name + "InitialPosition", referenceFrame, registry);
intermediateZPosition = new YoDouble(name + "IntermediateZPosition", registry);
finalPosition = new YoFramePoint3D(name + "FinalPosition", referenceFrame, registry);
finalVelocity = new YoFrameVector3D(name + "FinalVelocity", referenceFrame, registry);
currentPosition = new YoFramePoint3D(name + "CurrentPosition", referenceFrame, registry);
currentVelocity = new YoFrameVector3D(name + "CurrentVelocity", referenceFrame, registry);
currentAcceleration = new YoFrameVector3D(name + "CurrentAcceleration", referenceFrame, registry);
currentTime = new YoDouble(name + "CurrentTime", registry);
trajectoryTime = new YoDouble(name + "TrajectoryTime", registry);
xPolynomial = new YoPolynomial(name + "PolynomialX", 3, registry);
yPolynomial = new YoPolynomial(name + "PolynomialY", 3, registry);
zPolynomial = new YoPolynomial(name + "PolynomialZ", 4, registry);
parentRegistry.addChild(registry);
}
代码示例来源:origin: us.ihmc/ihmc-humanoid-behaviors
public TaskSpaceStiffnessCalculator(String namePrefix, double controlDT, YoVariableRegistry registry)
{
alphaLowPass = new YoDouble(namePrefix + "Alpha", registry);
alphaLowPass.set(AlphaFilteredYoVariable.computeAlphaGivenBreakFrequencyProperly(lowPassCutoffFreq_Hz, controlDT));
yoForcePointPosition = new YoFramePoint3D(namePrefix + "Position", world, registry);
yoForcePointForce = new YoFrameVector3D(namePrefix + "Force", world, registry);
yoForcePointVelocity = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector(namePrefix + "Velocity", "", alphaLowPass, controlDT, registry,
yoForcePointPosition);
yoForcePointForceRateOfChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector(namePrefix + "ForceRateOfChange", "", alphaLowPass,
controlDT, registry, yoForcePointForce);
yoForceAlongDirectionOfMotion = new YoDouble(namePrefix + "ForceAlongDirOfMotion", registry);
yoForceRateOfChangeAlongDirectionOfMotion = new YoDouble(namePrefix + "DeltaForceAlongDirOfMotion", registry);
yoStiffnessAlongDirectionOfMotion = new YoDouble(namePrefix + "StiffnessAlongDirOfMotion", registry);
yoMaxStiffness = new YoDouble(namePrefix + "MaxStiffness", registry);
yoCrossProductOfCurrentVelWithForce = new YoFrameVector3D(namePrefix + "VelocityCrossForce", world, registry);
yoDirectionOfFreeMotion = new YoFrameVector3D(namePrefix + "DirOfFreeMotion", world, registry);
addSimulatedSensorNoise = new YoBoolean(namePrefix + "AddSimulatedNoise", registry);
addSimulatedSensorNoise.set(false);
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces
public YoFrameVector3D findYoFrameVector(String vectorPrefix, String vectorSuffix, ReferenceFrame vectorFrame)
{
YoDouble x = (YoDouble) scs.getVariable(createXName(vectorPrefix, vectorSuffix));
YoDouble y = (YoDouble) scs.getVariable(createYName(vectorPrefix, vectorSuffix));
YoDouble z = (YoDouble) scs.getVariable(createZName(vectorPrefix, vectorSuffix));
if (x == null || y == null || z == null)
return null;
else
return new YoFrameVector3D(x, y, z, vectorFrame);
}
代码示例来源:origin: us.ihmc/ihmc-common-walking-control-modules-test
public PushRobotTestConductor(SimulationConstructionSet scs, String jointName)
{
this.jointName = jointName;
pushDuration = (YoDouble) scs.getVariable(jointName + "_pushDuration");
pushMagnitude = (YoDouble) scs.getVariable(jointName + "_pushMagnitude");
pushTimeSwitch = (YoDouble) scs.getVariable(jointName + "_pushTimeSwitch");
pushNumber = (YoInteger) scs.getVariable(jointName + "_pushNumber");
pushDelay = (YoDouble) scs.getVariable(jointName + "_pushDelay");
yoTime = (YoDouble) scs.getVariable("t");
pushDirection = new YoFrameVector3D((YoDouble) scs.getVariable(jointName + "_pushDirectionX"),
(YoDouble) scs.getVariable(jointName + "_pushDirectionY"),
(YoDouble) scs.getVariable(jointName + "_pushDirectionZ"), ReferenceFrame.getWorldFrame());
pushForce = new YoFrameVector3D((YoDouble) scs.getVariable(jointName + "_pushForceX"),
(YoDouble) scs.getVariable(jointName + "_pushForceY"),
(YoDouble) scs.getVariable(jointName + "_pushForceZ"), ReferenceFrame.getWorldFrame());
}
代码示例来源:origin: us.ihmc/ihmc-yovariables
/**
* Creates a copy of {@code this} by finding the duplicated {@code YoVariable}s in the given
* {@link YoVariableRegistry}.
* <p>
* This method does not duplicate {@code YoVariable}s. Assuming the given registry is a duplicate
* of the registry that was used to create {@code this}, this method searches for the duplicated
* {@code YoVariable}s and use them to duplicate {@code this}.
* </p>
*
* @param newRegistry YoVariableRegistry to duplicate {@code this} to.
* @return the duplicate of {@code this}.
*/
public YoFrameVector3D duplicate(YoVariableRegistry newRegistry)
{
YoDouble x = (YoDouble) newRegistry.getVariable(getYoX().getFullNameWithNameSpace());
YoDouble y = (YoDouble) newRegistry.getVariable(getYoY().getFullNameWithNameSpace());
YoDouble z = (YoDouble) newRegistry.getVariable(getYoZ().getFullNameWithNameSpace());
return new YoFrameVector3D(x, y, z, getReferenceFrame());
}
}
代码示例来源:origin: us.ihmc/ihmc-footstep-planning
public static void addGoalViz(FramePose3D goalPose, YoVariableRegistry registry, YoGraphicsListRegistry graphicsListRegistry)
{
YoFramePoint3D yoGoal = new YoFramePoint3D("GoalPosition", worldFrame, registry);
yoGoal.set(goalPose.getPosition());
graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("GoalViz", yoGoal, 0.05, YoAppearance.Yellow()));
YoFramePoint3D yoStart = new YoFramePoint3D("StartPosition", worldFrame, registry);
graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("StartViz", yoStart, 0.05, YoAppearance.Blue()));
PoseReferenceFrame goalFrame = new PoseReferenceFrame("GoalFrame", goalPose);
FrameVector3D goalOrientation = new FrameVector3D(goalFrame, 0.5, 0.0, 0.0);
goalOrientation.changeFrame(worldFrame);
YoFrameVector3D yoGoalOrientation = new YoFrameVector3D("GoalVector", worldFrame, registry);
yoGoalOrientation.set(goalOrientation);
// graphicsListRegistry.registerYoGraphic("vizOrientation", new YoGraphicVector("GoalOrientationViz", yoGoal, yoGoalOrientation, 1.0, YoAppearance.White()));
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces-test
public SlipOnNextStepPerturber(HumanoidFloatingRootJointRobot robot, RobotSide robotSide)
{
super(robotSide.getCamelCaseNameForStartOfExpression() + "SlipOnEachStepPerturber");
String sideString = robotSide.getCamelCaseNameForStartOfExpression();
this.robot = robot;
this.touchdownTimeForSlip = new YoDouble(sideString + "TouchdownTimeForSlip", registry);
this.slipAfterTimeDelta = new YoDouble(sideString + "SlipAfterTimeDelta", registry);
this.slipNextStep = new YoBoolean(sideString + "SlipNextStep", registry);
amountToSlipNextStep = new YoFrameVector3D(sideString + "AmountToSlipNextStep", ReferenceFrame.getWorldFrame(), registry);
rotationToSlipNextStep = new YoFrameYawPitchRoll(sideString + "RotationToSlipNextStep", ReferenceFrame.getWorldFrame(), registry);
slipState = new YoEnum<SlipState>(sideString + "SlipState", registry, SlipState.class);
slipState.set(SlipState.NOT_SLIPPING);
groundContactPoints = robot.getFootGroundContactPoints(robotSide);
groundContactPointsSlipper = new GroundContactPointsSlipper(robotSide.getLowerCaseName());
groundContactPointsSlipper.addGroundContactPoints(groundContactPoints);
groundContactPointsSlipper.setPercentToSlipPerTick(0.05);
this.addRobotController(groundContactPointsSlipper);
}
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