本文整理了Java中us.ihmc.yoVariables.variable.YoFrameVector3D.getY()
方法的一些代码示例,展示了YoFrameVector3D.getY()
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.getY()
方法的具体详情如下:
包路径:us.ihmc.yoVariables.variable.YoFrameVector3D
类名称:YoFrameVector3D
方法名:getY
暂无
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-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-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-simulation-toolkit
translationPhase.setY(translationPhase.getY() + 2.0 * Math.PI * translationFreqHz[1] * deltaT);
translationPhase.setZ(translationPhase.getZ() + 2.0 * Math.PI * translationFreqHz[2] * deltaT);
rotationPhaseEuler.setY(rotationPhaseEuler.getY() + 2.0 * Math.PI * rotationFreqHzYawPitchRoll[1] * deltaT);
rotationPhaseEuler.setZ(rotationPhaseEuler.getZ() + 2.0 * Math.PI * rotationFreqHzYawPitchRoll[0] * deltaT);
nextTranslationToSlip.setY(nextTranslationToSlip.getY() * (2.0 * Math.PI * translationFreqHz[1] * Math.sin(translationPhase.getY()) * deltaT));
nextTranslationToSlip.setZ(nextTranslationToSlip.getZ() * (2.0 * Math.PI * translationFreqHz[2] * Math.sin(translationPhase.getZ()) * deltaT));
rotationMagnitude.getEulerAngles(nextRotationToSlipEulerAngles);
nextRotationToSlipEulerAngles.setX(nextRotationToSlipEulerAngles.getX() * (2.0 * Math.PI * rotationFreqHzYawPitchRoll[2] * Math.sin(rotationPhaseEuler.getX()) * deltaT));
nextRotationToSlipEulerAngles.setY(nextRotationToSlipEulerAngles.getY() * (2.0 * Math.PI * rotationFreqHzYawPitchRoll[1] * Math.sin(rotationPhaseEuler.getY()) * deltaT));
nextRotationToSlipEulerAngles.setZ(nextRotationToSlipEulerAngles.getZ() * (2.0 * Math.PI * rotationFreqHzYawPitchRoll[0] * Math.sin(rotationPhaseEuler.getZ()) * deltaT));
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces-test
private void generateRandomSlipParamters()
{
double randomSlipTranslateX = pseudoRandomRealNumberWithinRange(minTranslationToSlipNextStep.getX(), maxTranslationToSlipNextStep.getX());
double randomSlipTranslateY = pseudoRandomRealNumberWithinRange(minTranslationToSlipNextStep.getY(), maxTranslationToSlipNextStep.getY());
double randomSlipTranslateZ = pseudoRandomRealNumberWithinRange(minTranslationToSlipNextStep.getZ(), maxTranslationToSlipNextStep.getZ());
nextTranslationToSlip.set(randomSlipTranslateX, randomSlipTranslateY, randomSlipTranslateZ);
nextRotationToSlip.setYawPitchRoll(pseudoRandomRealNumberWithinRange(minRotationToSlipNextStep.getYawPitchRoll(),
maxRotationToSlipNextStep.getYawPitchRoll()));
double randomSlipAfterTimeDelta = pseudoRandomPositiveNumberWithinRange(minSlipAfterTimeDelta.getDoubleValue(), maxSlipAfterTimeDelta.getDoubleValue());
double randomPercentToSlipPerTick = pseudoRandomPositiveNumberWithinRange(minSlipPercentSlipPerTick.getDoubleValue(),
maxSlipPercentSlipPerTick.getDoubleValue());
nextSlipAfterTimeDelta.set(randomSlipAfterTimeDelta);
nextSlipPercentSlipPerTick.set(randomPercentToSlipPerTick);
}
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
@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();
}
内容来源于网络,如有侵权,请联系作者删除!