本文整理了Java中us.ihmc.robotics.kinematics.fourbar.YoVariableSideFourbarCalculatorWithDerivatives.updateAnglesAndVelocitiesGivenAngleDAB()方法的一些代码示例，展示了YoVariableSideFourbarCalculatorWithDerivatives.updateAnglesAndVelocitiesGivenAngleDAB()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。YoVariableSideFourbarCalculatorWithDerivatives.updateAnglesAndVelocitiesGivenAngleDAB()方法的具体详情如下：
包路径：us.ihmc.robotics.kinematics.fourbar.YoVariableSideFourbarCalculatorWithDerivatives
类名称：YoVariableSideFourbarCalculatorWithDerivatives
方法名：updateAnglesAndVelocitiesGivenAngleDAB

YoVariableSideFourbarCalculatorWithDerivatives.updateAnglesAndVelocitiesGivenAngleDAB介绍

[英]Compute every angle of the quadrilateral.
[中]计算四边形的每个角度。

代码示例

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

public boolean updateAnglesVelocitiesAndAccelerationsGivenAngleDAB(double angleDABInRadians, double angularVelocityDAB, double angularAccelerationDAB)
{
 // Solve angles and angular velocity
 boolean isAHittingBounds = updateAnglesAndVelocitiesGivenAngleDAB(angleDABInRadians, angularVelocityDAB);
 // Solve angular acceleration
 double A = clamp(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
 double dAdT = angularVelocityDAB;
 double dAdT2 = angularAccelerationDAB;
 double e = unknownTriangleSideLengthByLawOfCosine(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), A);
 double eDot = lengthAD.getDoubleValue() * lengthBA.getDoubleValue() * sin(A) * dAdT / e;
 double eDDot = lengthAD.getDoubleValue() * lengthBA.getDoubleValue() / e * (cos(A) * dAdT * dAdT + sin(A) * (dAdT2 - eDot * dAdT / e));
 double dCdT2 = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), 0.0, 0.0, e, eDot, eDDot);
 double angleDDotDBA = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthBA.getDoubleValue(), e, eDot, eDDot, lengthAD.getDoubleValue(), 0.0, 0.0);
 double angleDDotDBC = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthCB.getDoubleValue(), e, eDot, eDDot, lengthDC.getDoubleValue(), 0.0, 0.0);
 double dBdT2 = angleDDotDBA + angleDDotDBC;
 double dDdT2 = -dAdT2 - dBdT2 - dCdT2;
 this.angleDt2DAB = dAdT2;
 this.angleDt2ABC = dBdT2;
 this.angleDt2BCD = dCdT2;
 this.angleDt2CDA = dDdT2;
 return isAHittingBounds;
}

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

public boolean updateAnglesVelocitiesAndAccelerationsGivenAngleDAB(double angleDABInRadians, double angularVelocityDAB, double angularAccelerationDAB)
{
 // Solve angles and angular velocity
 boolean isAHittingBounds = updateAnglesAndVelocitiesGivenAngleDAB(angleDABInRadians, angularVelocityDAB);
 // Solve angular acceleration
 double A = clipToMinMax(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
 double dAdT = angularVelocityDAB;
 double dAdT2 = angularAccelerationDAB;
 double e = getUnknownTriangleSideLengthByLawOfCosine(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), A);
 double eDot = lengthAD.getDoubleValue() * lengthBA.getDoubleValue() * sin(A) * dAdT / e;
 double eDDot = lengthAD.getDoubleValue() * lengthBA.getDoubleValue() / e * (cos(A) * dAdT * dAdT + sin(A) * (dAdT2 - eDot * dAdT / e));
 double dCdT2 = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), 0.0, 0.0, e, eDot, eDDot);
 double angleDDotDBA = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthBA.getDoubleValue(), e, eDot, eDDot, lengthAD.getDoubleValue(), 0.0, 0.0);
 double angleDDotDBC = FourbarCalculatorTools.getAngleDDotWithCosineLaw(lengthCB.getDoubleValue(), e, eDot, eDDot, lengthDC.getDoubleValue(), 0.0, 0.0);
 double dBdT2 = angleDDotDBA + angleDDotDBC;
 double dDdT2 = -dAdT2 - dBdT2 - dCdT2;
 this.angleDt2DAB = dAdT2;
 this.angleDt2ABC = dBdT2;
 this.angleDt2BCD = dCdT2;
 this.angleDt2CDA = dDdT2;
 return isAHittingBounds;
}

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

private void solveFourBar(YoVariableSideFourbarCalculatorWithDerivatives calculator, double lengthA, double lengthB, double lengthC, double lengthD,
   double A, double B, double C, double D)
{
 if (PRINT)
 {
   String[] names = "a,b,c,d,A,B,C,D".split(",");
   double[] vals = new double[] {lengthA, lengthB, lengthC, lengthD, A, B, C, D};
   for (int i = 0; i < vals.length; i++)
   {
    System.out.println(names[i] + " = " + vals[i]);
   }
 }
 calculator.setSideLengths(lengthA, lengthB, lengthC, lengthD);
 calculator.updateAnglesAndVelocitiesGivenAngleDAB(A, 0.0);
 assertEquals(A, calculator.getAngleDAB(), eps);
 assertEquals(B, calculator.getAngleABC(), eps);
 assertEquals(C, calculator.getAngleBCD(), eps);
 assertEquals(D, calculator.getAngleCDA(), eps);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSquareDer()
{
 YoVariableSideFourbarCalculatorWithDerivatives calculator = new YoVariableSideFourbarCalculatorWithDerivatives("testCalculator", registry);
 calculator.setSideLengths(1.0, 1.0, 1.0, 1.0);
 calculator.updateAnglesAndVelocitiesGivenAngleDAB(PI / 2.0, 1.0);
 assertEquals(1, calculator.getAngleDtDAB(), eps);
 assertEquals(1, calculator.getAngleDtBCD(), eps);
 assertEquals(-1, calculator.getAngleDtABC(), eps);
 assertEquals(-1, calculator.getAngleDtCDA(), eps);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testParallelogram()
{
 YoVariableSideFourbarCalculatorWithDerivatives calculator = new YoVariableSideFourbarCalculatorWithDerivatives("testCalculator", registry);
 calculator.setSideLengths(1.0, 1.0, 1.0, 1.0);
 calculator.updateAnglesAndVelocitiesGivenAngleDAB(PI / 3, 1);
 assertEquals(PI / 3, calculator.getAngleDAB(), eps);
 assertEquals(2 * PI / 3, calculator.getAngleABC(), eps);
 assertEquals(PI / 3, calculator.getAngleBCD(), eps);
 assertEquals(2 * PI / 3, calculator.getAngleCDA(), eps);
 assertEquals(1, calculator.getAngleDtDAB(), eps);
 assertEquals(1, calculator.getAngleDtBCD(), eps);
 assertEquals(-1, calculator.getAngleDtABC(), eps);
 assertEquals(-1, calculator.getAngleDtCDA(), eps);
}