public void set(FramePoint3D framePoint) { this.framePoint.set(framePoint); } }
public void set(List<? extends Point3DReadOnly> points) { if (points.size() > this.ccwOrderedYoFramePoints.length) throw new RuntimeException("Cannot plot more vertices than the maximum number"); numberOfPoints.set(points.size()); for (int i = 0; i < numberOfPoints.getValue(); i++) ccwOrderedYoFramePoints[i].set(points.get(i)); for (int i = numberOfPoints.getValue(); i < ccwOrderedYoFramePoints.length; i++) ccwOrderedYoFramePoints[i].setToNaN(); }
@Override public void setPosition(Point3DReadOnly position) { this.position.set(position); }
public void setInitialConditions(YoFramePoint3D initialPosition, YoFrameVector3D initialVelocity) { this.initialPosition.set(initialPosition); this.initialVelocity.set(initialVelocity); }
public void updatePointThree(FramePoint3D framePointThree) { pointThree.set(framePointThree); update(); }
public void set(double baseX, double baseY, double baseZ, double x, double y, double z) { base.set(baseX, baseY, baseZ); vector.set(x, y, z); }
public void setConstantPose(FramePoint3D constantPosition, FrameQuaternion constantOrientation) { this.position.set(position); this.orientation.set(orientation); }
public void setTrajectoryParameters(double duration, Point3DReadOnly initialPosition, double intermediatePosition, Point3DReadOnly finalPosition, Vector3DReadOnly finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.intermediateZPosition.set(intermediatePosition); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void setTrajectoryParameters(double duration, FramePoint3DReadOnly initialPosition, double intermediateZPosition, FramePoint3DReadOnly finalPosition, FrameVector3DReadOnly finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.intermediateZPosition.set(intermediateZPosition); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void setTrajectoryParameters(double duration, FramePoint3D initialPosition, FrameVector3D initialVelocity, FramePoint3D finalPosition, FrameVector3D finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.initialVelocity.set(initialVelocity); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void setTrajectoryParameters(double duration, FramePoint3DReadOnly initialPosition, YoDouble intermediateZPosition, FramePoint3DReadOnly finalPosition, FrameVector3DReadOnly finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.intermediateZPosition.set(intermediateZPosition.getDoubleValue()); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void set(double time, FramePoint3D position, FrameQuaternion orientation, FrameVector3D linearVelocity, FrameVector3D angularVelocity) { this.time.set(time); this.position.set(position); this.orientation.set(orientation); this.linearVelocity.set(linearVelocity); this.angularVelocity.set(angularVelocity); }
@Override public void doControl() { double mass = robot.computeCOMMomentum(tempCenterOfMassPoint, tempCenterOfMassVelocity, tempAngularMomentum); exactCenterOfMassPosition.set(tempCenterOfMassPoint); tempCenterOfMassVelocity.scale(1.0 / mass); exactCenterOfMassVelocity.set(tempCenterOfMassVelocity); exactCenterOfMassAcceleration.update(); }
@Test// timeout=300000 public void testGetYoPosition() { YoFramePoint3D yoPosition = kinematicPoint.getYoPosition(); String frameName = yoPosition.getReferenceFrame().getName(); assertEquals("( 0.000, 0.000, 0.000 )-" + frameName, yoPosition.toString()); yoPosition.set(new Point3D(5.0, 5.1, 5.2)); assertEquals("( 5.000, 5.100, 5.200 )-" + frameName, yoPosition.toString()); }
public void setTrajectoryParameters(YoFrameEuclideanTrajectoryPoint initialYoFrameEuclideanWaypoint, YoFrameEuclideanTrajectoryPoint finalYoFrameEuclideanWaypoint) { setTrajectoryTime(finalYoFrameEuclideanWaypoint.getTime() - initialYoFrameEuclideanWaypoint.getTime()); initialPosition.set(initialYoFrameEuclideanWaypoint.getPosition()); initialVelocity.set(initialYoFrameEuclideanWaypoint.getLinearVelocity()); finalPosition.set(finalYoFrameEuclideanWaypoint.getPosition()); finalVelocity.set(finalYoFrameEuclideanWaypoint.getLinearVelocity()); }
public void set(YoDouble baseX, YoDouble baseY, YoDouble baseZ, YoDouble x, YoDouble y, YoDouble z) { base.set(baseX.getValue(), baseY.getValue(), baseZ.getValue()); vector.set(x.getValue(), y.getValue(), z.getValue()); }
public void setPose(FramePose3D framePose) { yoFramePoint.checkReferenceFrameMatch(framePose.getReferenceFrame()); yoFramePoint.set(framePose.getPosition()); if (isUsingYawPitchRoll()) yoFrameYawPitchRoll.set(framePose.getOrientation()); else yoFrameQuaternion.set(framePose.getOrientation()); }
public void setConstantPose(FramePose3D constantPose) { position.checkReferenceFrameMatch(constantPose); position.set(constantPose.getX(), constantPose.getY(), constantPose.getZ()); orientation.setYawPitchRoll(constantPose.getYaw(), constantPose.getPitch(), constantPose.getRoll()); }
@Override public void initialize() { currentTime.set(0.0); double tIntermediate = trajectoryTime.getDoubleValue() / 2.0; xPolynomial.setQuadraticWithFinalVelocityConstraint(0.0,trajectoryTime.getDoubleValue(), initialPosition.getX(), finalPosition.getX(), finalVelocity.getX()); yPolynomial.setQuadraticWithFinalVelocityConstraint(0.0,trajectoryTime.getDoubleValue(), initialPosition.getY(), finalPosition.getY(), finalVelocity.getY()); zPolynomial.setCubicWithIntermediatePositionAndFinalVelocityConstraint(0.0, tIntermediate, trajectoryTime.getDoubleValue(), initialPosition.getZ(), intermediateZPosition.getDoubleValue(), finalPosition.getZ(), finalVelocity.getZ()); currentPosition.set(initialPosition); currentAcceleration.setToZero(); }