本文整理了Java中us.ihmc.robotics.kinematics.fourbar.YoVariableSideFourbarCalculatorWithDerivatives.getAngleWithCosineLaw()方法的一些代码示例，展示了YoVariableSideFourbarCalculatorWithDerivatives.getAngleWithCosineLaw()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。YoVariableSideFourbarCalculatorWithDerivatives.getAngleWithCosineLaw()方法的具体详情如下：
包路径：us.ihmc.robotics.kinematics.fourbar.YoVariableSideFourbarCalculatorWithDerivatives
类名称：YoVariableSideFourbarCalculatorWithDerivatives
方法名：getAngleWithCosineLaw

YoVariableSideFourbarCalculatorWithDerivatives.getAngleWithCosineLaw介绍

暂无

代码示例

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

public void setSideLengths(double lengthAD, double lengthBA, double lengthCB, double lengthDC)
{
 this.lengthAD.set(lengthAD);
 this.lengthBA.set(lengthBA);
 this.lengthCB.set(lengthCB);
 this.lengthDC.set(lengthDC);
 double eMax = min(lengthAD + lengthBA, lengthDC + lengthCB);
 if (eMax == lengthAD + lengthBA)
   maxA.set(PI);
 else
   maxA.set(getAngleWithCosineLaw(lengthAD, lengthBA, eMax));
 double fMax = min(lengthAD + lengthDC, lengthBA + lengthCB);
 if (fMax == lengthAD + lengthDC)
   minA.set(getAngleWithCosineLaw(fMax, lengthBA, lengthCB));
 else
   minA.set(getAngleWithCosineLaw(fMax, lengthAD, lengthDC));
}

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

public void setSideLengths(double lengthAD, double lengthBA, double lengthCB, double lengthDC)
{
 this.lengthAD.set(lengthAD);
 this.lengthBA.set(lengthBA);
 this.lengthCB.set(lengthCB);
 this.lengthDC.set(lengthDC);
 double eMax = min(lengthAD + lengthBA, lengthDC + lengthCB);
 if (eMax == lengthAD + lengthBA)
   maxA.set(PI);
 else
   maxA.set(getAngleWithCosineLaw(lengthAD, lengthBA, eMax));
 double fMax = min(lengthAD + lengthDC, lengthBA + lengthCB);
 if (fMax == lengthAD + lengthDC)
   minA.set(getAngleWithCosineLaw(fMax, lengthBA, lengthCB));
 else
   minA.set(getAngleWithCosineLaw(fMax, lengthAD, lengthDC));
}

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

public void computeMasterJointAngleGivenAngleABC(double angleABCInRadians)
{
 double B = angleABCInRadians;
 double f = getUnknownTriangleSideLengthByLawOfCosine(lengthBA.getDoubleValue(), lengthCB.getDoubleValue(), B);
 double D = getAngleWithCosineLaw(lengthDC.getDoubleValue(), lengthAD.getDoubleValue(), f);
 double angleACB = getAngleWithCosineLaw(lengthCB.getDoubleValue(), f, lengthBA.getDoubleValue());
 double angleACD = getAngleWithCosineLaw(lengthDC.getDoubleValue(), f, lengthAD.getDoubleValue());
 double C = angleACB + angleACD;
 double A = 2 * PI - D - B - C;
 this.angleDAB = A;
}

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

public void computeMasterJointAngleGivenAngleABC(double angleABCInRadians)
{
 double B = angleABCInRadians;
 double f = unknownTriangleSideLengthByLawOfCosine(lengthBA.getDoubleValue(), lengthCB.getDoubleValue(), B);
 double D = getAngleWithCosineLaw(lengthDC.getDoubleValue(), lengthAD.getDoubleValue(), f);
 double angleACB = getAngleWithCosineLaw(lengthCB.getDoubleValue(), f, lengthBA.getDoubleValue());
 double angleACD = getAngleWithCosineLaw(lengthDC.getDoubleValue(), f, lengthAD.getDoubleValue());
 double C = angleACB + angleACD;
 double A = 2 * PI - D - B - C;
 this.angleDAB = A;
}

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

/**
* Takes in angle D and computes the value of the master joint angle.
* Same notation used in the rest of the class.
*/
public void computeMasterJointAngleGivenAngleCDA(double angleCDAInRadians)
{
 double D = angleCDAInRadians;
 double f = getUnknownTriangleSideLengthByLawOfCosine(lengthDC.getDoubleValue(), lengthAD.getDoubleValue(), D);
 double angleCAD = getAngleWithCosineLaw(lengthAD.getDoubleValue(), f, lengthDC.getDoubleValue());
 double angleCAB = getAngleWithCosineLaw(lengthBA.getDoubleValue(), f, lengthCB.getDoubleValue());
 double A = angleCAD + angleCAB;
 this.angleDAB = A;
}

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

/**
* Takes in angle D and computes the value of the master joint angle.
* Same notation used in the rest of the class.
*/
public void computeMasterJointAngleGivenAngleCDA(double angleCDAInRadians)
{
 double D = angleCDAInRadians;
 double f = unknownTriangleSideLengthByLawOfCosine(lengthDC.getDoubleValue(), lengthAD.getDoubleValue(), D);
 double angleCAD = getAngleWithCosineLaw(lengthAD.getDoubleValue(), f, lengthDC.getDoubleValue());
 double angleCAB = getAngleWithCosineLaw(lengthBA.getDoubleValue(), f, lengthCB.getDoubleValue());
 double A = angleCAD + angleCAB;
 this.angleDAB = A;
}

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

public void computeMasterJointAngleGivenAngleBCD(double angleBCDInRadians)
{
 double C = angleBCDInRadians;
 double e = getUnknownTriangleSideLengthByLawOfCosine(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), C);
 double A = getAngleWithCosineLaw(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), e);
 this.angleDAB = A;
}

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

public void computeMasterJointAngleGivenAngleBCD(double angleBCDInRadians)
{
 double C = angleBCDInRadians;
 double e = unknownTriangleSideLengthByLawOfCosine(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), C);
 double A = getAngleWithCosineLaw(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), e);
 this.angleDAB = A;
}

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

public boolean updateAnglesGivenAngleDAB(double angleDABInRadians)
{
 // Solve angles
 double A = clipToMinMax(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
 double e = getUnknownTriangleSideLengthByLawOfCosine(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), A);
 double C = getAngleWithCosineLaw(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), e);
 double angleDBA = getAngleWithCosineLaw(lengthBA.getDoubleValue(), e, lengthAD.getDoubleValue());
 double angleDBC = getAngleWithCosineLaw(lengthCB.getDoubleValue(), e, lengthDC.getDoubleValue());
 double B = angleDBA + angleDBC;
 double D = 2 * PI - A - B - C;
 this.angleDAB = A;
 this.angleABC = B;
 this.angleBCD = C;
 this.angleCDA = D;
 return !MathTools.isInsideBoundsInclusive(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
}

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

public boolean updateAnglesGivenAngleDAB(double angleDABInRadians)
{
 // Solve angles
 double A = clamp(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
 double e = unknownTriangleSideLengthByLawOfCosine(lengthAD.getDoubleValue(), lengthBA.getDoubleValue(), A);
 double C = getAngleWithCosineLaw(lengthCB.getDoubleValue(), lengthDC.getDoubleValue(), e);
 double angleDBA = getAngleWithCosineLaw(lengthBA.getDoubleValue(), e, lengthAD.getDoubleValue());
 double angleDBC = getAngleWithCosineLaw(lengthCB.getDoubleValue(), e, lengthDC.getDoubleValue());
 double B = angleDBA + angleDBC;
 double D = 2 * PI - A - B - C;
 this.angleDAB = A;
 this.angleABC = B;
 this.angleBCD = C;
 this.angleCDA = D;
 return !MathTools.intervalContains(angleDABInRadians, minA.getDoubleValue(), maxA.getDoubleValue());
}