us.ihmc.yoVariables.variable.YoFrameVector3D.scale()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.YoFrameVector3D.scale()方法的一些代码示例，展示了YoFrameVector3D.scale()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.scale()方法的具体详情如下：
包路径：us.ihmc.yoVariables.variable.YoFrameVector3D
类名称：YoFrameVector3D
方法名：scale

YoFrameVector3D.scale介绍

暂无

代码示例

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

public void computeCurrentDisturbanceForce()
{
 currentDisturbanceForce.setX(random.nextDouble());
 currentDisturbanceForce.setY(random.nextDouble());
 currentDisturbanceForce.setZ(random.nextDouble());
 currentDisturbanceForce.normalize();
 currentDisturbanceForce.scale(maximalDisturbanceMagnitude.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-robotics-toolkit

@Override
public void compute(double time)
{
 if (continuouslyUpdateFinalPosition.getBooleanValue())
 {
   updateFinalPosition();
 }
 this.currentTime.set(time);
 time = MathTools.clamp(time, 0.0, trajectoryTime.getDoubleValue());
 parameterPolynomial.compute(time);
 differenceVector.sub(finalPosition, initialPosition);
 double parameter = isDone() ? 1.0 : parameterPolynomial.getPosition();
 double parameterd = isDone() ? 0.0 : parameterPolynomial.getVelocity();
 double parameterdd = isDone() ? 0.0 : parameterPolynomial.getAcceleration();
 currentPosition.interpolate(initialPosition, finalPosition, parameter);
 currentVelocity.set(differenceVector);
 currentVelocity.scale(parameterd);
 currentAcceleration.set(differenceVector);
 currentAcceleration.scale(parameterdd);
}

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

private void applyForce()
{
 double length = pushDirection.length();
 if (length > 1e-5)
 {
   pushForce.set(pushDirection);
   pushForce.normalize();
   pushForce.scale(pushForceMagnitude.getDoubleValue());
   if (pushCondition == null)
   {
    pushTimeSwitch.set(yoTime.getDoubleValue());
   }
 }
 else
 {
   pushForce.setToZero();
   pushTimeSwitch.set(Double.NEGATIVE_INFINITY);
 }
 pushNumber.increment();
}

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-robotics-toolkit

private void computeIntegralTerm()
{
 if (gains.getMaximumIntegralError() < 1e-5)
 {
   integralTerm.setToZero(bodyFrame);
   return;
 }
 double errorIntegratedX = positionError.getX() * dt;
 double errorIntegratedY = positionError.getY() * dt;
 double errorIntegratedZ = positionError.getZ() * dt;
 positionErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
 double errorMagnitude = positionErrorCumulated.length();
 if (errorMagnitude > gains.getMaximumIntegralError())
 {
   positionErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
 }
 integralTerm.set(positionErrorCumulated);
 gains.getIntegralGainMatrix(tempGainMatrix);
 tempGainMatrix.transform(integralTerm);
}

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

actualOrientation.inverseTransform(zUp);
inputLinearAcceleration.set(zUp);
inputLinearAcceleration.scale(20.0);
inputMagneticVector.scale(0.5);

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

actualOrientation.inverseTransform(zUp);
inputLinearAcceleration.set(zUp);
inputLinearAcceleration.scale(20.0);
inputMagneticVector.scale(0.5);

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

actualOrientation.inverseTransform(zUp);
inputLinearAcceleration.set(zUp);
inputLinearAcceleration.scale(20.0);
inputMagneticVector.scale(0.5);

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

private void computeIntegralTerm()
{
 if (gains.getMaximumIntegralError() < 1e-5)
 {
   integralTerm.setToZero(bodyFrame);
   return;
 }
 double integratedErrorAngle = errorAngleAxis.getAngle() * dt;
 double errorIntegratedX = errorAngleAxis.getX() * integratedErrorAngle;
 double errorIntegratedY = errorAngleAxis.getY() * integratedErrorAngle;
 double errorIntegratedZ = errorAngleAxis.getZ() * integratedErrorAngle;
 rotationErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
 double errorMagnitude = rotationErrorCumulated.length();
 if (errorMagnitude > gains.getMaximumIntegralError())
 {
   rotationErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
 }
 integralTerm.set(rotationErrorCumulated);
 gains.getIntegralGainMatrix(tempGainMatrix);
 tempGainMatrix.transform(integralTerm);
}

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

public void applyForce(Vector3D direction, double magnitude, double duration)
  {
   PrintTools.info("\nPushing " + jointName + " direction: " + direction + " magnitude: " + magnitude + "(N) for " + duration + "(s)");
   
   pushDuration.set(duration);
   pushDelay.set(0.0);
   pushDirection.set(direction);
   pushMagnitude.set(magnitude);
   
   if (pushDirection.length() > 1e-5)
   {
     pushForce.set(pushDirection);
     pushForce.normalize();
     pushForce.scale(pushMagnitude.getDoubleValue());
     pushTimeSwitch.set(yoTime.getDoubleValue());
   }
   else
   {
     pushForce.setToZero();
     pushTimeSwitch.set(Double.NEGATIVE_INFINITY);
   }

   pushNumber.increment();
  }
}

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

public void initialize(FramePoint3D initialPosition, FramePoint3D intermediatePosition, FramePoint3D finalPosition, double intermediateParameter)
{
 initialPosition.changeFrame(referenceFrame);
 intermediatePosition.changeFrame(referenceFrame);
 finalPosition.changeFrame(referenceFrame);
 final double q = intermediateParameter;
 MathTools.checkIntervalContains(q, 0.0, 1.0);
 c0.set(initialPosition);
 c2.set(intermediatePosition);
 c2.sub(initialPosition);
 tempInitialize.set(finalPosition);
 tempInitialize.sub(initialPosition);
 tempInitialize.scale(q);
 c2.sub(tempInitialize);
 c2.scale(1.0 / (MathTools.square(q) - q));
 c1.set(finalPosition);
 c1.sub(initialPosition);
 c1.sub(c2);
}

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

desiredCoMVelocity.scale(omega0.getDoubleValue());

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

desiredCoMVelocity.scale(omega0.getDoubleValue());

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

desiredCoMVelocity.scale(omega0.getDoubleValue());

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