us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory类的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory类的一些代码示例，展示了YoMinimumJerkTrajectory类的具体用法。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。YoMinimumJerkTrajectory类的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory
类名称：YoMinimumJerkTrajectory

YoMinimumJerkTrajectory介绍

暂无

代码示例

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void testBadInitialParams()
  {
   YoVariableRegistry registry = new YoVariableRegistry("TestMinimumJerkTrajectory");
   YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("tester", registry);
   
   double maxV = 10;
   double maxA = 50;
   minimumJerkTrajectory.setParams(0.0, maxV * 1.1, 0.0, 1.0, 0.0, 0.0, 0.0, 0.05);
   double newTime = minimumJerkTrajectory.timeExtension(1e-7, maxV, maxA, true);
   if (newTime > 100000)
   {
     throw new RuntimeException("TestMinimumJerkTrajectory.testBadInitialParams: cannot find suitable time");
   }
   else
   {
     System.out.println("TestMinimumJerkTrajectory.testBadInitialParams: Tf = " + newTime);
   }
  }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Deprecated
public void updateToFinalPosition(double currentTime, double Xf)
{
 computeTrajectory(currentTime);
 this.T0.set(currentTime);
 this.Xf.set(Xf);
 this.X0.set(getPosition());
 this.V0.set(getVelocity());
 this.A0.set(getAcceleration());
 this.computeConstants();
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

private boolean splinesAreFinished(double timeInCurrentState)
{
  for (int i = 0; i < oneDoFJoints.size(); i++)
  {
   YoMinimumJerkTrajectory spline = transitionSplines.get(oneDoFJoints.get(i));
   if (timeInCurrentState < spline.getFinalTime())
     return false;
  }
  return true;
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testZeroLength()
{
 YoVariableRegistry registry = new YoVariableRegistry("TestMinimumJerkTrajectory");
 YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("tester", registry);
 
 double t = 0.5e-7;
 double[] vals = new double[3];
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0);
 minimumJerkTrajectory.computeTrajectoryDoubles(t, vals);
 if (Double.isNaN(vals[0]) || Double.isNaN(vals[1]) || Double.isNaN(vals[2]))
 {
   throw new RuntimeException("TestMinimumJerkTrajectory.testZeroLength: failed on zero displacement");
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0);
 minimumJerkTrajectory.computeTrajectoryDoubles(t, vals);
 if (Double.isNaN(vals[0]) || Double.isNaN(vals[1]) || Double.isNaN(vals[2]))
 {
   throw new RuntimeException("TestMinimumJerkTrajectory.testZeroLength: failed on zero time difference");
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.5);
 double Tf = minimumJerkTrajectory.timeExtension(t, 0.0, 0.0, true);
 System.out.println("TestMinimumJerkTrajectory.testZeroLength: Extending with maximums at 0.0: Tf = " + Tf);
 System.out.flush();
}

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

public void getAcceleration(FrameVector3D accelerationToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getAcceleration(accelerationToPack);
 accelerationToPack.scale(minimumJerkTrajectory.getVelocity() * minimumJerkTrajectory.getVelocity());
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 tempVector.scale(minimumJerkTrajectory.getAcceleration());
 accelerationToPack.add(tempVector);
}

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

YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("test", registry);
  double tf = t0 + randomBetween(0.1, 10.0);
  minimumJerkTrajectory.setParams(x0, v0, a0, xf, vf, af, t0, tf);
  minimumJerkTrajectory.computeTrajectory(randomBetween(-10.0, 10.0));
  minimumJerkTrajectory.computeTrajectory(t0);
  assertEquals(x0, minimumJerkTrajectory.getPosition(), epsilon);
  assertEquals(v0, minimumJerkTrajectory.getVelocity(), epsilon);
  assertEquals(a0, minimumJerkTrajectory.getAcceleration(), epsilon);
  minimumJerkTrajectory.computeTrajectory(tf);
  assertEquals(xf, minimumJerkTrajectory.getPosition(), epsilon);
  assertEquals(vf, minimumJerkTrajectory.getVelocity(), epsilon);
  assertEquals(af, minimumJerkTrajectory.getAcceleration(), epsilon);

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

public void getVelocity(FrameVector3D velocityToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 velocityToPack.setIncludingFrame(tempVector);
 velocityToPack.scale(minimumJerkTrajectory.getVelocity());
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void computeTrajectoryDoubles(double t, double[] vals)
{
 computeTrajectory(t);
 vals[0] = this.pos;
 vals[1] = this.vel;
 vals[2] = this.acc;
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testFindMaxVals()
{
 YoVariableRegistry registry = new YoVariableRegistry("TestMinimumJerkTrajectory");
 YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("tester", registry);
 
 double t = 0.0;
 double[] maximums = new double[2];
 double maxVexpected = 5.625;
 double maxAexpected = 34.641;
 double percent = 0.01;
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 0.5);
 minimumJerkTrajectory.findMaxVelocityAndAccel(t, maximums);
 if (!MathTools.percentEquals(maxVexpected, maximums[0], percent))
 {
   throw new RuntimeException("TestMinimumJerkTrajectory.testFindMaxVals: Max velocity is wrong: expected=" + maxVexpected + ", actual=" + maximums[0]);
 }
 if (!MathTools.percentEquals(maxAexpected, maximums[1], percent))
 {
   throw new RuntimeException("TestMinimumJerkTrajectory.testFindMaxVals: Max accel is wrong: expected=" + maxAexpected + ", actual=" + maximums[1]);
 }
}

代码示例来源：origin: us.ihmc/IHMCWholeBodyController

private void setTransitionSplines()
{
 for (int i = 0; i < oneDoFJoints.size(); i++)
 {
   OneDoFJoint oneDoFJoint = oneDoFJoints.get(i);
   YoMinimumJerkTrajectory spline = transitionSplines.get(oneDoFJoint);
   double initialPosition = initialPositions.get(oneDoFJoint).getDoubleValue();
   double finalPositon = finalPositions.get(oneDoFJoint).getDoubleValue();
   spline.setParams(initialPosition, 0.0, 0.0, finalPositon, 0.0, 0.0, 0.0, splineDuration.getDoubleValue());
 }
}

代码示例来源：origin: us.ihmc/IHMCWholeBodyController

private void createTransitionSplines()
{
 for (int i = 0; i < oneDoFJoints.size(); i++)
 {
   OneDoFJoint oneDoFJoint = oneDoFJoints.get(i);
   YoMinimumJerkTrajectory spline = new YoMinimumJerkTrajectory(oneDoFJoint.getName() + "TransitionSpline", registry);
   transitionSplines.put(oneDoFJoint, spline);
   //       spline.setParams(initialPositions.get(oneDoFJoint), 0.0, 0.0, finalPositions.get(oneDoFJoint), 0.0, 0.0, 0.0, 3.0);
   DoubleYoVariable desiredPosition = new DoubleYoVariable("q_d_" + oneDoFJoint.getName(), registry);
   DoubleYoVariable desiredVelocity = new DoubleYoVariable("qd_d_" + oneDoFJoint.getName(), registry);
   desiredPositions.put(oneDoFJoint, desiredPosition);
   desiredVelocities.put(oneDoFJoint, desiredVelocity);
 }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void getPosition(FramePoint positionToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getPosition(positionToPack, parameter);
}

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

@Deprecated
  public void setFinalPosition(double Xf)
  {
   this.Xf.set(Xf);
   this.computeConstants();
  }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

findMaxVelocityAndAccel(currentTime, maxs);
  findMaxVelocityAndAccel(currentTime, maxs);
  findMaxVelocityAndAccel(currentTime, maxs);

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void getAcceleration(FrameVector accelerationToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getAcceleration(accelerationToPack);
 accelerationToPack.scale(minimumJerkTrajectory.getVelocity() * minimumJerkTrajectory.getVelocity());
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 tempVector.scale(minimumJerkTrajectory.getAcceleration());
 accelerationToPack.add(tempVector);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void getVelocity(FrameVector velocityToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 velocityToPack.setIncludingFrame(tempVector);
 velocityToPack.scale(minimumJerkTrajectory.getVelocity());
}

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

public void computeTrajectoryDoubles(double t, double[] vals)
{
 computeTrajectory(t);
 vals[0] = this.pos;
 vals[1] = this.vel;
 vals[2] = this.acc;
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

private void setTransitionSplines()
{
 for (int i = 0; i < oneDoFJoints.size(); i++)
 {
   OneDoFJointBasics oneDoFJoint = oneDoFJoints.get(i);
   YoMinimumJerkTrajectory spline = transitionSplines.get(oneDoFJoint);
   double initialPosition = initialPositions.get(oneDoFJoint).getDoubleValue();
   double finalPositon = finalPositions.get(oneDoFJoint).getDoubleValue();
   spline.setParams(initialPosition, 0.0, 0.0, finalPositon, 0.0, 0.0, 0.0, splineDuration.getDoubleValue());
 }
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

private void createTransitionSplines()
{
 for (int i = 0; i < oneDoFJoints.size(); i++)
 {
   OneDoFJointBasics oneDoFJoint = oneDoFJoints.get(i);
   YoMinimumJerkTrajectory spline = new YoMinimumJerkTrajectory(oneDoFJoint.getName() + "TransitionSpline", registry);
   transitionSplines.put(oneDoFJoint, spline);
   //       spline.setParams(initialPositions.get(oneDoFJoint), 0.0, 0.0, finalPositions.get(oneDoFJoint), 0.0, 0.0, 0.0, 3.0);
   YoDouble desiredPosition = new YoDouble("q_d_" + oneDoFJoint.getName(), registry);
   YoDouble desiredVelocity = new YoDouble("qd_d_" + oneDoFJoint.getName(), registry);
   desiredPositions.put(oneDoFJoint, desiredPosition);
   desiredVelocities.put(oneDoFJoint, desiredVelocity);
 }
}

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

public void getPosition(FramePoint3D positionToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getPosition(positionToPack, parameter);
}

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