us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory.setParams()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.robotics.math.trajectories.YoMinimumJerkTrajectory.setParams()方法的一些代码示例，展示了YoMinimumJerkTrajectory.setParams()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.setParams()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：setParams

YoMinimumJerkTrajectory.setParams介绍

暂无

代码示例

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/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-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-test

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testTimeExtensionRuntime()
{
 YoVariableRegistry registry = new YoVariableRegistry("TestMinimumJerkTrajectory");
 YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("tester", registry);
 
 long starttime, endtime;
 double t = 0.0;
 double maxV = 10;
 double maxA = 10;
 int runs = 10000;
 starttime = System.nanoTime();
 Random random = new Random(107L);
 for (int i = 0; i < runs * 6; i++)
 {
   minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, random.nextDouble() * 0.5 + 0.75, 0.0, 0.0, 0.0, 0.5);
   minimumJerkTrajectory.timeExtension(t, maxV, maxA, true);
 }
 endtime = System.nanoTime();
 double runtime = (endtime - starttime) / runs * 1.0e-6;
 System.out.println("TestMinimumJerkTrajectory.testTimeExtensionRuntime: Execution Time = " + (runtime) + "ms per 6 calls");
}

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/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/ihmc-robotics-toolkit-test

@Ignore
@ContinuousIntegrationTest(estimatedDuration = 0.1, categoriesOverride = IntegrationCategory.EXCLUDE)
@Test(timeout=300000)
public void testTimeExtension()
{
 YoVariableRegistry registry = new YoVariableRegistry("TestMinimumJerkTrajectory");
 YoMinimumJerkTrajectory minimumJerkTrajectory = new YoMinimumJerkTrajectory("tester", registry);
 
 double t = 0.0;
 double maxV = 5.0;
 double maxA = 10.0;
 double expectedTime = 0.930605;
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 0.0);
 double newTime = minimumJerkTrajectory.timeExtension(t, maxV, maxA, true);
 if (!MathTools.percentEquals(expectedTime, newTime, 0.01))
 {
   throw new RuntimeException("TestMinimumJerkTrajectory.testTimeExtension: Returned desired time= " + newTime + ", expected= " + expectedTime);
 }
}

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

public void initialize(FramePoint initialPosition, FrameVector initialVelocity, FrameVector initialAcceleration, FramePoint finalDesiredPosition,
           FrameVector finalDesiredVelocity)
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 parabolicTrajectoryGenerator.initialize(initialPosition, finalDesiredPosition, groundClearance.getDoubleValue(), middleOfTrajectoryParameter);
}

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

@Override
public void initialize(FramePoint3D initialPosition, FrameVector3D initialVelocity, FrameVector3D initialAcceleration, FramePoint3D finalDesiredPosition,
           FrameVector3D finalDesiredVelocity)
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 parabolicTrajectoryGenerator.initialize(initialPosition, finalDesiredPosition, groundClearance.getDoubleValue(), middleOfTrajectoryParameter);
}

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

public void initialize()
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 FramePoint3D initialPosition = new FramePoint3D(ReferenceFrame.getWorldFrame());
 initialPositionProvider.getPosition(initialPosition);
 FramePoint3D finalPosition = new FramePoint3D(ReferenceFrame.getWorldFrame());
 finalPositionProvider.getPosition(finalPosition);
 initialPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 finalPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 double maxAnkleHeight = Math.max(initialPosition.getZ(), finalPosition.getZ());
 double apexHeight = maxAnkleHeight + groundClearance.getDoubleValue();
 parabolicTrajectoryGenerator.initialize(initialPosition, finalPosition, apexHeight, middleOfTrajectoryParameter);
}

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

public void initialize()
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 FramePoint initialPosition = new FramePoint(ReferenceFrame.getWorldFrame());
 initialPositionProvider.getPosition(initialPosition);
 FramePoint finalPosition = new FramePoint(ReferenceFrame.getWorldFrame());
 finalPositionProvider.getPosition(finalPosition);
 initialPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 finalPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 double maxAnkleHeight = Math.max(initialPosition.getZ(), finalPosition.getZ());
 double apexHeight = maxAnkleHeight + groundClearance.getDoubleValue();
 parabolicTrajectoryGenerator.initialize(initialPosition, finalPosition, apexHeight, middleOfTrajectoryParameter);
}

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

double tf = t0 + randomBetween(0.1, 10.0);
minimumJerkTrajectory.setParams(x0, v0, a0, xf, vf, af, t0, tf);

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