public RateLimitedYoFramePose(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, ReferenceFrame referenceFrame) { this(namePrefix, nameSuffix, registry, createMaxRateYoDouble(namePrefix, nameSuffix, maxRate, registry), dt, null, referenceFrame); }
@Override public String toString() { return EuclidGeometryIOTools.getPose3DString(this) + "-" + getReferenceFrame(); } }
public void update(FramePose3DReadOnly framePoseUnfiltered) { checkReferenceFrameMatch(framePoseUnfiltered); position.update(framePoseUnfiltered.getPosition()); orientation.update(framePoseUnfiltered.getOrientation()); set(position, orientation); }
public void update() { position.update(); orientation.update(); set(position, orientation); }
private RateLimitedYoFramePose(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider maxRate, double dt, FramePose3DReadOnly rawPose, ReferenceFrame referenceFrame) { if (rawPose != null) { this.position = new RateLimitedYoFramePoint(namePrefix, "Position" + nameSuffix, registry, maxRate, dt, rawPose.getPosition()); this.orientation = new RateLimitedYoFrameQuaternion(namePrefix, "Orientation" + nameSuffix, registry, maxRate, dt, rawPose.getOrientation()); } else { this.position = new RateLimitedYoFramePoint(namePrefix, "Position" + nameSuffix, registry, maxRate, dt, referenceFrame); this.orientation = new RateLimitedYoFrameQuaternion(namePrefix, "Orientation" + nameSuffix, registry, maxRate, dt, referenceFrame); } reset(); }
public RateLimitedYoFramePose(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, FramePose3DReadOnly rawPose) { this(namePrefix, nameSuffix, registry, createMaxRateYoDouble(namePrefix, nameSuffix, maxRate, registry), dt, rawPose, rawPose.getReferenceFrame()); }