本文整理了Java中us.ihmc.robotics.math.trajectories.waypoints.YoOneDoFTrajectoryPoint类的一些代码示例，展示了YoOneDoFTrajectoryPoint类的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoOneDoFTrajectoryPoint类的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.waypoints.YoOneDoFTrajectoryPoint
类名称：YoOneDoFTrajectoryPoint

YoOneDoFTrajectoryPoint介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

private void initializeSubTrajectory(int waypointIndex)
{
 initialPositionProvider.setValue(waypoints.get(waypointIndex).getPosition());
 initialVelocityProvider.setValue(waypoints.get(waypointIndex).getVelocity());
 finalPositionProvider.setValue(waypoints.get(waypointIndex + 1).getPosition());
 finalVelocityProvider.setValue(waypoints.get(waypointIndex + 1).getVelocity());
 double subTrajectoryTime = waypoints.get(waypointIndex + 1).getTime() - waypoints.get(waypointIndex).getTime();
 trajectoryTimeProvider.setValue(subTrajectoryTime);
 subTrajectory.initialize();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

private void appendWaypointUnsafe(double timeAtWaypoint, double position, double velocity)
{
 waypoints.get(numberOfWaypoints.getIntegerValue()).set(timeAtWaypoint, position, velocity);
 numberOfWaypoints.increment();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

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

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

@Override
public void initialize()
{
 if (isEmpty())
 {
   throw new RuntimeException("Trajectory has no waypoints.");
 }
 currentWaypointIndex.set(0);
 if (numberOfWaypoints.getIntegerValue() == 1)
 {
   YoOneDoFTrajectoryPoint firstWaypoint = waypoints.get(0);
   initialPositionProvider.setValue(firstWaypoint.getPosition());
   initialVelocityProvider.setValue(firstWaypoint.getVelocity());
   finalPositionProvider.setValue(firstWaypoint.getPosition());
   finalVelocityProvider.setValue(firstWaypoint.getVelocity());
   trajectoryTimeProvider.setValue(0.0);
   subTrajectory.initialize();
 }
 else
 {
   initializeSubTrajectory(0);
 }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public String toString()
{
 NumberFormat doubleFormat = new DecimalFormat(" 0.00;-0.00");
 String timeString = "time = " + doubleFormat.format(getTime());
 return "Trajectory point 1D: (" + timeString + ", " + waypoint1d + ")";
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void clear()
{
 numberOfWaypoints.set(0);
 currentWaypointIndex.set(0);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   waypoints.get(i).setToNaN();
 }
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public MultipleWaypointsMinimumJerkTrajectoryGenerator(String namePrefix, int maximumNumberOfWaypoints, YoVariableRegistry parentRegistry)
{
 this.namePrefix = namePrefix;
 this.maximumNumberOfWaypoints = maximumNumberOfWaypoints;
 registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 parentRegistry.addChild(registry);
 numberOfWaypoints = new YoInteger(namePrefix + "NumberOfWaypoints", registry);
 numberOfWaypoints.set(0);
 currentTrajectoryTime = new YoDouble(namePrefix + "TrajectoryTime", registry);
 currentWaypointIndex = new YoInteger(namePrefix + "CurrentWaypointIndex", registry);
 subTrajectory = new QuinticPolynomialTrajectoryGenerator(namePrefix + "SubTrajectory", initialPositionProvider, initialVelocityProvider,
    finalPositionProvider, finalVelocityProvider, trajectoryTimeProvider, registry);
 waypoints = new ArrayList<>(maximumNumberOfWaypoints);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   YoOneDoFTrajectoryPoint waypoint = new YoOneDoFTrajectoryPoint(namePrefix, "AtWaypoint" + i, registry);
   waypoints.add(waypoint);
 }
 clear();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

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

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

@Override
public void initialize()
{
 if (isEmpty())
 {
   throw new RuntimeException("Trajectory has no waypoints.");
 }
 currentWaypointIndex.set(0);
 if (numberOfWaypoints.getIntegerValue() == 1)
 {
   YoOneDoFTrajectoryPoint firstWaypoint = waypoints.get(0);
   finalPositionProvider.setValue(firstWaypoint.getPosition());
   finalVelocityProvider.setValue(firstWaypoint.getVelocity());
   trajectoryTimeProvider.setValue(0.0);
   subTrajectory.initialize();
 }
 else
   initializeSubTrajectory(0);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

@Override
public String toString()
{
 NumberFormat doubleFormat = new DecimalFormat(" 0.00;-0.00");
 String timeString = "time = " + doubleFormat.format(getTime());
 return "Trajectory point 1D: (" + timeString + ", " + waypoint1d + ")";
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void clear()
{
 numberOfWaypoints.set(0);
 currentWaypointIndex.set(0);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   waypoints.get(i).setToNaN();
 }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public MultipleWaypointsMinimumJerkTrajectoryGenerator(String namePrefix, int maximumNumberOfWaypoints, YoVariableRegistry parentRegistry)
{
 this.namePrefix = namePrefix;
 this.maximumNumberOfWaypoints = maximumNumberOfWaypoints;
 registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 parentRegistry.addChild(registry);
 numberOfWaypoints = new IntegerYoVariable(namePrefix + "NumberOfWaypoints", registry);
 numberOfWaypoints.set(0);
 currentTrajectoryTime = new DoubleYoVariable(namePrefix + "TrajectoryTime", registry);
 currentWaypointIndex = new IntegerYoVariable(namePrefix + "CurrentWaypointIndex", registry);
 subTrajectory = new QuinticPolynomialTrajectoryGenerator(namePrefix + "SubTrajectory", initialPositionProvider, initialVelocityProvider,
    finalPositionProvider, finalVelocityProvider, trajectoryTimeProvider, registry);
 waypoints = new ArrayList<>(maximumNumberOfWaypoints);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   YoOneDoFTrajectoryPoint waypoint = new YoOneDoFTrajectoryPoint(namePrefix, "AtWaypoint" + i, registry);
   waypoints.add(waypoint);
 }
 clear();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

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

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

private void initializeSubTrajectory(int waypointIndex)
{
 initialPositionProvider.setValue(waypoints.get(waypointIndex).getPosition());
 initialVelocityProvider.setValue(waypoints.get(waypointIndex).getVelocity());
 finalPositionProvider.setValue(waypoints.get(waypointIndex + 1).getPosition());
 finalVelocityProvider.setValue(waypoints.get(waypointIndex + 1).getVelocity());
 double subTrajectoryTime = waypoints.get(waypointIndex + 1).getTime() - waypoints.get(waypointIndex).getTime();
 trajectoryTimeProvider.setValue(subTrajectoryTime);
 subTrajectory.initialize();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public void initialize()
{
 if (isEmpty())
 {
   throw new RuntimeException("Trajectory has no waypoints.");
 }
 currentWaypointIndex.set(0);
 if (numberOfWaypoints.getIntegerValue() == 1)
 {
   YoOneDoFTrajectoryPoint firstWaypoint = waypoints.get(0);
   finalPositionProvider.setValue(firstWaypoint.getPosition());
   finalVelocityProvider.setValue(firstWaypoint.getVelocity());
   trajectoryTimeProvider.setValue(0.0);
   subTrajectory.initialize();
 }
 else
   initializeSubTrajectory(0);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public boolean epsilonEquals(YoOneDoFTrajectoryPoint other, double epsilon)
{
 if (!MathTools.epsilonEquals(getTime(), other.getTime(), epsilon))
   return false;
 if (!waypoint1d.epsilonEquals(other.waypoint1d, epsilon))
   return false;
 return true;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

private void appendWaypointUnsafe(double timeAtWaypoint, double position, double velocity)
{
 waypoints.get(numberOfWaypoints.getIntegerValue()).set(timeAtWaypoint, position, velocity);
 numberOfWaypoints.increment();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public void clear()
{
 numberOfWaypoints.set(0);
 currentWaypointIndex.set(0);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   waypoints.get(i).setToNaN();
 }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public MultipleWaypointsTrajectoryGenerator(String namePrefix, int maximumNumberOfWaypoints, YoVariableRegistry parentRegistry)
{
 this.namePrefix = namePrefix;
 this.maximumNumberOfWaypoints = maximumNumberOfWaypoints;
 registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 parentRegistry.addChild(registry);
 numberOfWaypoints = new IntegerYoVariable(namePrefix + "NumberOfWaypoints", registry);
 numberOfWaypoints.set(0);
 currentTrajectoryTime = new DoubleYoVariable(namePrefix + "TrajectoryTime", registry);
 currentWaypointIndex = new IntegerYoVariable(namePrefix + "CurrentWaypointIndex", registry);
 subTrajectory = new CubicPolynomialTrajectoryGenerator(namePrefix + "SubTrajectory", initialPositionProvider, initialVelocityProvider,
    finalPositionProvider, finalVelocityProvider, trajectoryTimeProvider, registry);
 waypoints = new ArrayList<>(maximumNumberOfWaypoints);
 for (int i = 0; i < maximumNumberOfWaypoints; i++)
 {
   YoOneDoFTrajectoryPoint waypoint = new YoOneDoFTrajectoryPoint(namePrefix, "AtWaypoint" + i, registry);
   waypoints.add(waypoint);
 }
 clear();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

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