public void setYawPitchRoll(double yaw, double pitch, double roll) { qrCodeJoint.setYawPitchRoll(yaw, pitch, roll); }
public void setYawPitchRoll(double yaw, double pitch, double roll) { qrCodeJoint.setYawPitchRoll(yaw, pitch, roll); }
public void setYawPitchRoll(double yaw, double pitch, double roll) { getFloatingJoint().setYawPitchRoll(yaw, pitch, roll); }
private void setRandomPosition(FloatingJoint floatingJoint, SixDoFJoint sixDoFJoint) { Point3D rootPosition = new Point3D(random.nextDouble(), random.nextDouble(), random.nextDouble()); double yaw = random.nextDouble(); double pitch = random.nextDouble(); double roll = random.nextDouble(); floatingJoint.setPosition(rootPosition); floatingJoint.setYawPitchRoll(yaw, pitch, roll); sixDoFJoint.setJointPosition(rootPosition); sixDoFJoint.getJointPose().setOrientationYawPitchRoll(yaw, pitch, roll); }
public void setRobotStateRandomly(Random random, double maxJointVelocity, double maxRootJointLinearAndAngularVelocity) { FloatingJoint rootJoint = robot.getRootJoint(); rootJoint.setVelocity(RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity)); rootJoint.setAngularVelocityInBody(RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity)); rootJoint.setPosition(RandomGeometry.nextVector3D(random)); double yaw = RandomNumbers.nextDouble(random, Math.PI / 20.0); double pitch = RandomNumbers.nextDouble(random, Math.PI / 20.0); double roll = RandomNumbers.nextDouble(random, Math.PI / 20.0); rootJoint.setYawPitchRoll(yaw, pitch, roll); ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJoints = new ArrayList<OneDegreeOfFreedomJoint>(); robot.getAllOneDegreeOfFreedomJoints(oneDegreeOfFreedomJoints); for (OneDegreeOfFreedomJoint oneDegreeOfFreedomJoint : oneDegreeOfFreedomJoints) { double lowerLimit = oneDegreeOfFreedomJoint.getJointLowerLimit(); double upperLimit = oneDegreeOfFreedomJoint.getJointUpperLimit(); double delta = upperLimit - lowerLimit; lowerLimit = lowerLimit + 0.05 * delta; upperLimit = upperLimit - 0.05 * delta; oneDegreeOfFreedomJoint.setQ(RandomNumbers.nextDouble(random, lowerLimit, upperLimit)); oneDegreeOfFreedomJoint.setQd(RandomNumbers.nextDouble(random, maxJointVelocity)); } }