public void setPosition(double x, double y, double z) { jointTranslation.set(x, y, z); this.afterJointFrame.setTranslation(this.jointTranslation); }
public void setPosition(double x, double y, double z) { jointTranslation.set(x, 0.0, z); afterJointFrame.setTranslation(this.jointTranslation); }
public void setPosition(Tuple3d jointTranslation) { this.jointTranslation.set(jointTranslation); this.afterJointFrame.setTranslation(this.jointTranslation); }
public void setPosition(Tuple3d jointTranslation) { this.jointTranslation.set(jointTranslation.getX(), 0.0, jointTranslation.getZ()); afterJointFrame.setTranslation(this.jointTranslation); }
public void setPositionAndRotation(RigidBodyTransform transform) { RotationTools.convertTransformToQuaternion(transform, jointRotation); if (!RotationTools.isQuaternionNormalized(jointRotation)) { throw new AssertionError("quaternion is not normalized. " + jointRotation); } transform.getTranslation(jointTranslation); this.afterJointFrame.setRotation(jointRotation); this.afterJointFrame.setTranslation(jointTranslation); }
public void setPositionAndRotation(RigidBodyTransform transform) { RotationTools.convertTransformToYawPitchRoll(transform, yawPitchRoll); RotationTools.convertYawPitchRollToQuaternion(0.0, yawPitchRoll[1], 0.0, jointRotation); if (!RotationTools.isQuaternionNormalized(jointRotation)) { throw new AssertionError("quaternion is not normalized. " + jointRotation); } transform.getTranslation(jointTranslation); jointTranslation.setY(0.0); this.afterJointFrame.setRotation(jointRotation); this.afterJointFrame.setTranslation(jointTranslation); }
@Override public void setConfiguration(DenseMatrix64F matrix, int rowStart) { int index = rowStart; double qRot = matrix.get(index++, 0); double x = matrix.get(index++, 0); double z = matrix.get(index++, 0); RotationTools.convertYawPitchRollToQuaternion(0.0, qRot, 0.0, jointRotation); jointTranslation.set(x, 0.0, z); afterJointFrame.setRotation(jointRotation); afterJointFrame.setTranslation(jointTranslation); }
@Override public void setConfiguration(DenseMatrix64F matrix, int rowStart) { int index = rowStart; MatrixTools.extractQuat4dFromEJMLVector(jointRotation, matrix, rowStart); RotationTools.checkQuaternionNormalized(jointRotation); index += RotationTools.QUATERNION_SIZE; jointTranslation.setX(matrix.get(index++, 0)); jointTranslation.setY(matrix.get(index++, 0)); jointTranslation.setZ(matrix.get(index++, 0)); this.afterJointFrame.setRotation(jointRotation); this.afterJointFrame.setTranslation(jointTranslation); }