How to use

get

method

in

us.ihmc.euclid.tuple4D.Quaternion

private FootstepDataListMessage createFootstepsForWalkingDownRampMediumSteps(ScriptedFootstepGenerator scriptedFootstepGenerator)
{
 Quaternion quaternion = new Quaternion(Math.PI, 0.205, 0.0);
 double[] quatArray = new double[4];
 quaternion.get(quatArray);
 double[][][] footstepLocationsAndOrientations = new double[][][] {{{6.955, 0.12, 0.722}, {0.0, 0.0, 1.0, 0.0}},
    {{6.571, -0.08, 0.722}, {0.0, 0.0, 1.0, 0.0}}, {{6.175, 0.12, 0.644}, quatArray}, {{5.804, -0.08, 0.581}, quatArray},
    {{5.419, 0.12, 0.490}, quatArray}, {{5.047, -0.08, 0.410}, quatArray}, {{4.671, 0.12, 0.345}, quatArray}, {{4.289, -0.08, 0.261}, quatArray},
    {{3.912, 0.12, 0.170}, quatArray}, {{3.541, -0.08, 0.100}, {0.0, 0.0, 1.0, 0.0}}, {{3.170, 0.12, 0.090}, {0.0, 0.0, 1.0, 0.0}},
    {{3.168, -0.08, 0.090}, {0.0, 0.0, 1.0, 0.0}},};
 RobotSide[] robotSides = drcSimulationTestHelper.createRobotSidesStartingFrom(RobotSide.RIGHT, footstepLocationsAndOrientations.length);
 return scriptedFootstepGenerator.generateFootstepsFromLocationsAndOrientations(robotSides, footstepLocationsAndOrientations);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testAgainstInterpolation() throws Exception
{
 for (int nTest = 0; nTest < 10; nTest++)
 {
   double epsilon = 1.0e-15;
   Random random = new Random(56416456L);
   Quaternion quat1 = RandomGeometry.nextQuaternion(random);
   Quaternion quat2 = RandomGeometry.nextQuaternion(random);
   Quaternion expectedAverageQuat = new Quaternion();
   expectedAverageQuat.interpolate(quat1, quat2, 0.5);
   AverageQuaternionCalculator averageQuaternionCalculator = new AverageQuaternionCalculator();
   averageQuaternionCalculator.queueQuaternion(quat1);
   averageQuaternionCalculator.queueQuaternion(quat2);
   averageQuaternionCalculator.compute();
   Quaternion actualAverageQuat = new Quaternion();
   averageQuaternionCalculator.getAverageQuaternion(actualAverageQuat);
   if (expectedAverageQuat.getS() * actualAverageQuat.getS() < 0.0)
    expectedAverageQuat.negate();
   double[] expecteds = new double[4];
   expectedAverageQuat.get(expecteds);
   double[] actuals = new double[4];
   actualAverageQuat.get(actuals);
   assertArrayEquals(expecteds, actuals, epsilon);
 }
}

Vector3D translation = EuclidCoreRandomTools.nextVector3D(random);
DenseMatrix64F denseMatrix = new DenseMatrix64F(7, 1);
quaternion.get(denseMatrix);
translation.get(4, denseMatrix);
actualTransform.set(denseMatrix);
Vector3D translation = EuclidCoreRandomTools.nextVector3D(random);
double[] array = new double[7];
quaternion.get(array);
translation.get(4, array);
actualTransform.set(array);

Quaternion randomQuaternion = EuclidCoreRandomTools.nextQuaternion(random);
double[] array = new double[4];
randomQuaternion.get(array);
FrameQuaternion frameQuaternion = new FrameQuaternion(randomFrame, array);
assertTrue(frameQuaternion.getReferenceFrame() == randomFrame);
Quaternion randomQuaternion = EuclidCoreRandomTools.nextQuaternion(random);
DenseMatrix64F denseMatrix = new DenseMatrix64F(4, 1);
randomQuaternion.get(denseMatrix);
FrameQuaternion frameQuaternion = new FrameQuaternion(randomFrame, denseMatrix);
assertTrue(frameQuaternion.getReferenceFrame() == randomFrame);

expectedAverageQuat.get(expecteds);
double[] actuals = new double[4];
actualAverageQuat.get(actuals);
assertArrayEquals(expecteds, actuals, epsilon);

  public void initialize(DenseMatrix64F accel, DenseMatrix64F pqr, double heading)
  {
   setMatrix(bias, pqr);

//    euler = accel2euler(accel, heading);
   accel2euler(accel, heading);
   Quaternion quaternion = new Quaternion();
   quaternion.setYawPitchRoll(eulerAngles);
   quaternion.get(q);
  }

Vector3D translation = EuclidCoreRandomTools.nextVector3D(random);
DenseMatrix64F denseMatrix = new DenseMatrix64F(7, 1);
quaternion.get(denseMatrix);
translation.get(4, denseMatrix);
QuaternionBasedTransform transform = new QuaternionBasedTransform(denseMatrix);
Vector3D translation = EuclidCoreRandomTools.nextVector3D(random);
double[] array = new double[7];
quaternion.get(array);
translation.get(4, array);
QuaternionBasedTransform transform = new QuaternionBasedTransform(array);