本文整理了Java中us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory.getVelocity()方法的一些代码示例，展示了YoMinimumJerkTrajectory.getVelocity()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.getVelocity()方法的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory
类名称：YoMinimumJerkTrajectory
方法名：getVelocity

YoMinimumJerkTrajectory.getVelocity介绍

暂无

代码示例

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/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/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/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

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 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 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 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-whole-body-controller

private void updatePDController(OneDoFJointBasics oneDoFJoint, double timeInCurrentState)
{
 PDController pdController = pdControllers.get(oneDoFJoint);
 YoMinimumJerkTrajectory transitionSpline = transitionSplines.get(oneDoFJoint);
 double desiredPosition = transitionSpline.getPosition();
 double desiredVelocity = transitionSpline.getVelocity();
 // Setting the desired positions via SCS ui.
 if (manualMode.getBooleanValue())
 {
   desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
   desiredVelocity = 0.0;
 }
 else
 {
   desiredPositions.get(oneDoFJoint).set(desiredPosition);
 }
 desiredVelocities.get(oneDoFJoint).set(desiredVelocity);
 double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
 tau = tau * diagnosticsPDMasterGain.getDoubleValue();
 DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
 if (diagnosticsWhenHangingHelper != null)
 {
   tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, adaptTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
 }
 double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
 oneDoFJoint.setTau(tau + ditherTorque);
}

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

private void updatePDController(OneDoFJoint oneDoFJoint, double timeInCurrentState)
{
 PDController pdController = pdControllers.get(oneDoFJoint);
 YoMinimumJerkTrajectory transitionSpline = transitionSplines.get(oneDoFJoint);
 double desiredPosition = transitionSpline.getPosition();
 double desiredVelocity = transitionSpline.getVelocity();
 // Setting the desired positions via SCS ui.
 if (manualMode.getBooleanValue())
 {
   desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
   desiredVelocity = 0.0;
 }
 else
 {
   desiredPositions.get(oneDoFJoint).set(desiredPosition);
 }
 desiredVelocities.get(oneDoFJoint).set(desiredVelocity);
 double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
 tau = tau * diagnosticsPDMasterGain.getDoubleValue();
 DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
 if (diagnosticsWhenHangingHelper != null)
 {
   tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, adaptTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
 }
 double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
 oneDoFJoint.setTau(tau + ditherTorque);
}

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-robotics-toolkit

@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-robotics-toolkit-test

assertEquals(v0, minimumJerkTrajectory.getVelocity(), epsilon);
assertEquals(a0, minimumJerkTrajectory.getAcceleration(), epsilon);
assertEquals(vf, minimumJerkTrajectory.getVelocity(), epsilon);
assertEquals(af, minimumJerkTrajectory.getAcceleration(), epsilon);