/** * Change the current reference frame and set to zero the coordinates (different from changeFrame() ). * @return the previous current reference frame. */ @Override public ReferenceFrame switchCurrentReferenceFrame(ReferenceFrame referenceFrame) { ReferenceFrame previousReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(referenceFrame); set(0.0, 0.0, 0.0); return previousReferenceFrame; }
public void setInitialPose(FramePoint initialPosition, FrameOrientation initialOrientation) { this.initialPosition.set(initialPosition); this.initialOrientation.set(initialOrientation); initialOrientationForViz.setAndMatchFrame(initialOrientation); }
public void setInitialPoseWithInitialVelocity(FramePoint initialPosition, FrameVector initialVelocity, FrameOrientation initialOrientation, FrameVector initialAngularVelocity) { this.initialPosition.set(initialPosition); this.initialVelocity.set(initialVelocity); this.initialOrientation.set(initialOrientation); this.initialAngularVelocity.set(initialAngularVelocity); }
public void setInitialPoseWithoutInitialVelocity(FramePoint initialPosition, FrameOrientation initialOrientation) { this.initialPosition.set(initialPosition); this.initialVelocity.setToZero(); this.initialOrientation.set(initialOrientation); this.initialAngularVelocity.setToZero(); }
public void setFinalPose(FramePose finalPose) { finalPose.getPoseIncludingFrame(tempPosition, tempOrientation); finalPosition.set(tempPosition); finalOrientation.set(tempOrientation); finalOrientationForViz.setAndMatchFrame(tempOrientation); }
public void setInitialPoseWithoutInitialVelocity(FramePose initialPose) { initialPose.getPoseIncludingFrame(tempPosition, tempOrientation); this.initialPosition.set(tempPosition); this.initialVelocity.setToZero(); ; this.initialOrientation.set(tempOrientation); this.initialAngularVelocity.setToZero(); }
public void setInitialPoseWithInitialVelocity(FramePose initialPose, FrameVector initialVelocity, FrameVector initialAngularVelocity) { initialPose.getPoseIncludingFrame(tempPosition, tempOrientation); this.initialPosition.set(tempPosition); this.initialVelocity.set(initialVelocity); this.initialOrientation.set(tempOrientation); this.initialAngularVelocity.set(initialAngularVelocity); }
@Override public void changeFrame(ReferenceFrame desiredFrame) { get(quaternion); ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame); frameOrientation.setIncludingFrame(currentReferenceFrame, quaternion); frameOrientation.changeFrame(desiredFrame); frameOrientation.getQuaternion(quaternion); set(quaternion); }
public void setFinalPoseWithoutFinalVelocity(FramePoint finalPosition, FrameOrientation finalOrientation) { this.finalPosition.set(finalPosition); this.finalOrientation.set(finalOrientation); finalPositionForViz.setAndMatchFrame(finalPosition); finalOrientationForViz.setAndMatchFrame(finalOrientation); this.finalVelocity.setToZero(); this.finalAngularVelocity.setToZero(); }
@Override public void changeFrame(ReferenceFrame desiredFrame) { quaternion.set(this); ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame); frameOrientation.setIncludingFrame(currentReferenceFrame, quaternion); frameOrientation.changeFrame(desiredFrame); quaternion.set(frameOrientation); set(quaternion); }
public void setFinalPose(FramePoint finalPosition, FrameOrientation finalOrientation) { this.finalPosition.set(finalPosition); this.finalOrientation.set(finalOrientation); finalOrientationForViz.setAndMatchFrame(finalOrientation); tempPosition.setIncludingFrame(finalPosition); tempOrientation.setIncludingFrame(finalOrientation); finalOrientationForViz.setAndMatchFrame(tempOrientation); }
private void reset() { currentTime.set(0.0); currentPosition.set(initialPosition); currentVelocity.setToZero(); currentAcceleration.setToZero(); currentOrientation.set(initialOrientation); currentAngularVelocity.setToZero(); currentAngularAcceleration.setToZero(); }
private void reset() { currentTime.set(0.0); currentPosition.set(initialPosition); currentVelocity.set(initialVelocity); currentAcceleration.setToZero(); currentOrientation.set(initialOrientation); currentAngularVelocity.set(initialAngularVelocity); currentAngularAcceleration.setToZero(); }
public void setInitialPose(FramePose initialPose) { initialPose.getPoseIncludingFrame(tempPosition, tempOrientation); tempPosition.changeFrame(initialPosition.getReferenceFrame()); initialPosition.set(tempPosition); tempOrientation.changeFrame(initialOrientation.getReferenceFrame()); initialOrientation.set(tempOrientation); initialOrientationForViz.setAndMatchFrame(tempOrientation); }
currentAcceleration.setToZero(); currentOrientation.set(finalOrientation); currentAngularVelocity.setToZero(); currentAngularAcceleration.setToZero();