us.ihmc.robotics.math.trajectories.YoParabolicTrajectoryGenerator.<init>()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.YoParabolicTrajectoryGenerator.<init>()方法的一些代码示例，展示了YoParabolicTrajectoryGenerator.<init>()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。YoParabolicTrajectoryGenerator.<init>()方法的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.YoParabolicTrajectoryGenerator
类名称：YoParabolicTrajectoryGenerator
方法名：<init>

YoParabolicTrajectoryGenerator.<init>介绍

暂无

代码示例

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

public ParabolicCartesianTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, double groundClearance,
                      YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new YoDouble("groundClearance", registry);
 this.stepTime = new YoDouble("stepTime", registry);
 this.timeIntoStep = new YoDouble("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.groundClearance.set(groundClearance);
}

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

public ParabolicCartesianTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, double groundClearance,
    YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new DoubleYoVariable("groundClearance", registry);
 this.stepTime = new DoubleYoVariable("stepTime", registry);
 this.timeIntoStep = new DoubleYoVariable("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.groundClearance.set(groundClearance);
}

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

public ParabolicPositionTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider,
   PositionProvider initialPositionProvider, PositionProvider finalPositionProvider, double groundClearance, YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new YoDouble("groundClearance", registry);
 this.stepTime = new YoDouble("stepTime", registry);
 this.timeIntoStep = new YoDouble("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.initialPositionProvider = initialPositionProvider;
 this.finalPositionProvider = finalPositionProvider;
 this.groundClearance.set(groundClearance);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter2()
{
 double intermediateParameter = -0.1;
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
}

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

public ParabolicPositionTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider,
   PositionProvider initialPositionProvider, PositionProvider finalPositionProvider, double groundClearance, YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new DoubleYoVariable("groundClearance", registry);
 this.stepTime = new DoubleYoVariable("stepTime", registry);
 this.timeIntoStep = new DoubleYoVariable("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.initialPositionProvider = initialPositionProvider;
 this.finalPositionProvider = finalPositionProvider;
 this.groundClearance.set(groundClearance);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter1()
{
 double intermediateParameter = 1.1;
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter3()
{
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 YoParabolicTrajectoryGenerator trajectoryGenerator = null;
 try
 {
   double intermediateParameter = 0.7;
   FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
   FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
   FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
   YoVariableRegistry registry = new YoVariableRegistry("registry");
   trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
   trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 }
 catch (RuntimeException e)
 {
   fail();
 }
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 trajectoryGenerator.getPosition(positionToPack, 1.1);
}

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

Random random = new Random(186L);
ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void testInitialVelocity()
  {
   YoVariableRegistry registry = new YoVariableRegistry("registry");
   Random random = new Random(186L);
   ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
   YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);

   FramePoint3D initialPosition = new FramePoint3D(referenceFrame, RandomGeometry.nextVector3D(random));
   FrameVector3D initialVelocity = new FrameVector3D(referenceFrame, RandomGeometry.nextVector3D(random));
   FramePoint3D finalPosition = new FramePoint3D(referenceFrame, RandomGeometry.nextVector3D(random));
   trajectoryGenerator.initialize(initialPosition, initialVelocity, finalPosition);

   FramePoint3D initialPositionBack = new FramePoint3D(referenceFrame);
   trajectoryGenerator.getPosition(initialPositionBack, 0.0);

   FrameVector3D initialVelocityBack = new FrameVector3D(referenceFrame);
   trajectoryGenerator.getVelocity(initialVelocityBack, 0.0);

   FramePoint3D finalPositionBack = new FramePoint3D(referenceFrame);
   trajectoryGenerator.getPosition(finalPositionBack, 1.0);

   double delta = 0.0;
   EuclidCoreTestTools.assertTuple3DEquals(initialPosition, initialPositionBack, delta);
   EuclidCoreTestTools.assertTuple3DEquals(initialVelocity, initialVelocityBack, delta);
   EuclidCoreTestTools.assertTuple3DEquals(finalPosition, finalPositionBack, delta);
  }
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testConditions()
{
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 double intermediateParameter = 0.5;
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 double delta = 1e-10;
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 trajectoryGenerator.getPosition(positionToPack, 0.0);
 EuclidCoreTestTools.assertTuple3DEquals(initialPosition, positionToPack, delta);
 trajectoryGenerator.getPosition(positionToPack, intermediateParameter);
 EuclidCoreTestTools.assertTuple3DEquals(intermediatePosition, positionToPack, delta);
 trajectoryGenerator.getPosition(positionToPack, 1.0);
 EuclidCoreTestTools.assertTuple3DEquals(finalPosition, positionToPack, delta);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testApex()
{
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 0.0);
 double intermediateParameter = 0.5;
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 double delta = 1e-10;
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 int n = 1000;
 double smallestDifference = Double.POSITIVE_INFINITY;
 for (int i = 0; i < n; i++)
 {
   double parameter = i / (double) n;
   trajectoryGenerator.getPosition(positionToPack, parameter);
   double difference = intermediatePosition.getZ() - positionToPack.getZ();
   if (difference < smallestDifference)
    smallestDifference = difference;
 }
 assertTrue(smallestDifference < delta);
 assertTrue(smallestDifference >= 0.0);
}

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