us.ihmc.robotics.math.trajectories.waypoints.YoOneDoFWaypoint类的使用及代码示例

转载 作者：知者 更新时间：2024-03-20 02:14:31 26 4

@Override
  public void applyTransform(RigidBodyTransform transform)
  {
   waypoint1d.applyTransform(transform);
  }
}

@Override
public boolean geometricallyEquals(YoOneDoFWaypoint other, double epsilon)
{
 return epsilonEquals(other, epsilon);
}

@Override
public String toString()
{
 NumberFormat doubleFormat = new DecimalFormat(" 0.00;-0.00");
 String positionString = "position = " + doubleFormat.format(getPosition());
 String velocityString = "velocity = " + doubleFormat.format(getVelocity());
 return "Waypoint 1D: (" + positionString + ", " + velocityString + ")";
}

public void set(double position, double velocity)
{
 setPosition(position);
 setVelocity(velocity);
}

public void set(double time, double position, double velocity)
{
 this.time.set(time);
 waypoint1d.set(position, velocity);
}

@Override
public void setToZero()
{
 setTimeToZero();
 waypoint1d.setToZero();
}

@Override
public void setPosition(double position)
{
 waypoint1d.setPosition(position);
}

@Override
public double getVelocity()
{
 return waypoint1d.getVelocity();
}

@Override
public double getPosition()
{
 return waypoint1d.getPosition();
}

@Override
public void setToNaN()
{
 setTimeToNaN();
 waypoint1d.setToNaN();
}

public YoOneDoFTrajectoryPoint(String namePrefix, String nameSuffix, YoVariableRegistry registry)
{
 this.namePrefix = namePrefix;
 this.nameSuffix = nameSuffix;
 time = new YoDouble(createName(namePrefix, "time", nameSuffix), registry);
 waypoint1d = new YoOneDoFWaypoint(namePrefix, nameSuffix, registry);
}

@Override
public boolean containsNaN()
{
 return time.isNaN() || waypoint1d.containsNaN();
}

public void set(double position, double velocity)
{
 setPosition(position);
 setVelocity(velocity);
}

public void set(double time, double position, double velocity)
{
 this.time.set(time);
 waypoint1d.set(position, velocity);
}

@Override
public void setToZero()
{
 setTimeToZero();
 waypoint1d.setToZero();
}

@Override
public void setPosition(double position)
{
 waypoint1d.setPosition(position);
}

@Override
public double getVelocity()
{
 return waypoint1d.getVelocity();
}

@Override
public double getPosition()
{
 return waypoint1d.getPosition();
}

@Override
public void setToNaN()
{
 setTimeToNaN();
 waypoint1d.setToNaN();
}

public YoOneDoFTrajectoryPoint(String namePrefix, String nameSuffix, YoVariableRegistry registry)
{
 this.namePrefix = namePrefix;
 this.nameSuffix = nameSuffix;
 time = new DoubleYoVariable(createName(namePrefix, "time", nameSuffix), registry);
 waypoint1d = new YoOneDoFWaypoint(namePrefix, nameSuffix, registry);
}

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