本文整理了Java中us.ihmc.robotics.math.frames.YoFrameVectorInMultipleFrames类的一些代码示例，展示了YoFrameVectorInMultipleFrames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。YoFrameVectorInMultipleFrames类的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFrameVectorInMultipleFrames
类名称：YoFrameVectorInMultipleFrames

YoFrameVectorInMultipleFrames介绍

暂无

代码示例

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

public void setInitialClearance(FrameVector initialDirection, double leaveDistance)
{
 this.initialDirection.set(initialDirection);
 this.initialDirection.normalize();
 this.initialDirection.get(tempVector);
 GeometryTools.getAxisAngleFromZUpToVector(tempVector, axisAngleToWorld);
 rotationPlane.setIncludingFrame(this.initialDirection.getReferenceFrame(), axisAngleToWorld);
 this.leaveDistance.set(leaveDistance);
}

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

private void reset()
{
 currentTime.set(0.0);
 currentPosition.set(initialPosition);
 currentVelocity.setToZero();
 currentAcceleration.setToZero();
 currentOrientation.set(initialOrientation);
 currentAngularVelocity.setToZero();
 currentAngularAcceleration.setToZero();
}

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

@Override
public String toString()
{
 String ret = "";
 List<ReferenceFrame> referenceFrames = new ArrayList<ReferenceFrame>();
 multipleFramesHelper.getRegisteredReferenceFrames(referenceFrames);
 for (int i = 0; i < referenceFrames.size(); i++)
 {
   if (i > 0)
    ret += "\n";
   ret += toStringForASingleReferenceFrame(referenceFrames.get(i));
 }
 return ret;
}

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

private void reset()
{
 currentTime.set(0.0);
 currentPosition.set(initialPosition);
 currentVelocity.set(initialVelocity);
 currentAcceleration.setToZero();
 currentOrientation.set(initialOrientation);
 currentAngularVelocity.set(initialAngularVelocity);
 currentAngularAcceleration.setToZero();
}

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

YoFrameVectorInMultipleFrames currentVelocity = new YoFrameVectorInMultipleFrames(currentVelocityName, registry, referenceFrame);
YoFrameVectorInMultipleFrames currentAcceleration = new YoFrameVectorInMultipleFrames(currentAccelerationName, registry, referenceFrame);

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

public void setInitialLeadOut(FramePoint initialPosition, FrameVector initialDirection, double leaveDistance)
{
 this.initialPosition.set(initialPosition);
 this.initialDirection.set(initialDirection);
 this.initialDirection.normalize();
 this.initialDirection.get(tempVector);
 GeometryTools.getAxisAngleFromZUpToVector(tempVector, tempAxisAngle);
 initialDistortionPose.setToZero(this.initialPosition.getReferenceFrame());
 initialDistortionPose.setPosition(initialPosition);
 initialDistortionPose.setOrientation(tempAxisAngle);
 this.leaveDistance.set(leaveDistance);
}

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

public YoFrameVector buildUpdatedYoFrameVectorForVisualizationOnly()
{
 if (yoFrameVectorInWorld == null)
 {
   final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
   if (!isReferenceFrameRegistered(worldFrame))
    registerReferenceFrame(worldFrame);
   yoFrameVectorInWorld = new YoFrameVector(namePrefix, worldFrame.getName(), worldFrame, registry);
   attachVariableChangedListener(new VariableChangedListener()
   {
    private final FrameVector localFrameVector = new FrameVector();
    private final YoFrameVector vector = yoFrameVectorInWorld;
    @Override
    public void variableChanged(YoVariable<?> v)
    {
      getFrameTupleIncludingFrame(localFrameVector);
      vector.setAndMatchFrame(localFrameVector);
    }
   });
 }
 return yoFrameVectorInWorld;
}

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

@Override
public void getVelocity(FrameVector velocityToPack)
{
 currentVelocity.getFrameTupleIncludingFrame(velocityToPack);
}

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

initialDirection = new YoFrameVectorInMultipleFrames(namePrefix + "InitialDirection", registry, referenceFrame, tangentialPlane);
currentPosition = new YoFramePointInMultipleFrames(namePrefix + "CurrentPosition", registry, referenceFrame, tangentialPlane);
currentVelocity = new YoFrameVectorInMultipleFrames(namePrefix + "CurrentVelocity", registry, referenceFrame, tangentialPlane);
currentAcceleration = new YoFrameVectorInMultipleFrames(namePrefix + "CurrentAcceleration", registry, referenceFrame, tangentialPlane);
  final YoGraphicPosition finalPositionViz = new YoGraphicPosition(namePrefix + "FinalPosition", finalPosition, 0.02, YoAppearance.Red());
  final YoGraphicVector initialDirectionViz = new YoGraphicVector(namePrefix + "InitialDirection",
     initialPosition.buildUpdatedYoFramePointForVisualizationOnly(), initialDirection.buildUpdatedYoFrameVectorForVisualizationOnly(), 0.2,
     YoAppearance.BlueViolet());
  yoGraphicsList = new YoGraphicsList(namePrefix + "FinalApproachTraj");

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

public void setInitialPoseWithInitialVelocity(FramePoint initialPosition, FrameVector initialVelocity, FrameOrientation initialOrientation,
   FrameVector initialAngularVelocity)
{
 this.initialPosition.set(initialPosition);
 this.initialVelocity.set(initialVelocity);
 this.initialOrientation.set(initialOrientation);
 this.initialAngularVelocity.set(initialAngularVelocity);
}

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

@Override
public void changeFrame(ReferenceFrame desiredFrame)
{
 get(vector);
 ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame);
 frameVector.setIncludingFrame(currentReferenceFrame, vector);
 frameVector.changeFrame(desiredFrame);
 frameVector.get(vector);
 set(vector);
}

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

xPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPosition.getX(), initialVelocity.getX(), 0.0, finalPosition.getX(),
   finalVelocity.getX(), 0.0);
yPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPosition.getY(), initialVelocity.getY(), 0.0, finalPosition.getY(),
   finalVelocity.getY(), 0.0);
zPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPosition.getZ(), initialVelocity.getZ(), 0.0, finalPosition.getZ(),
   finalVelocity.getZ(), 0.0);
initialAngularVelocity.getFrameTupleIncludingFrame(copyOfInitialAngularVelocity);
finalAngularVelocity.getFrameTupleIncludingFrame(copyOfFinalAngularVelocity);

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

currentVelocity.setToZero();
currentAcceleration.setToZero();
currentAngularVelocity.setToZero();
currentAngularAcceleration.setToZero();
currentVelocity.subAndScale(alphaVel, finalPosition, initialPosition);
currentAcceleration.subAndScale(alphaAcc, finalPosition, initialPosition);

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

@Override
  public void setToNaN(ReferenceFrame desiredReferenceFrame)
  {
   setToNaN();
   multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame);
  }
}

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

YoFrameVectorInMultipleFrames initialVelocity = new YoFrameVectorInMultipleFrames(initialVelocityName, registry, referenceFrame);
YoFrameVectorInMultipleFrames finalVelocity = new YoFrameVectorInMultipleFrames(finalVelocityName, registry, referenceFrame);
YoFrameVectorInMultipleFrames currentVelocity = new YoFrameVectorInMultipleFrames(currentVelocityName, registry, referenceFrame);
YoFrameVectorInMultipleFrames currentAcceleration = new YoFrameVectorInMultipleFrames(currentAccelerationName, registry, referenceFrame);

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

public void setFinalLeadIn(FramePoint finalPosition, FrameVector finalDirection, double approachDistance)
{
 this.finalPosition.set(finalPosition);
 this.finalDirection.set(finalDirection);
 this.finalDirection.normalize();
 this.finalDirection.get(tempVector);
 tempVector.negate();
 GeometryTools.getAxisAngleFromZUpToVector(tempVector, tempAxisAngle);
 finalDistortionPose.setToZero(this.finalPosition.getReferenceFrame());
 finalDistortionPose.setPosition(finalPosition);
 finalDistortionPose.setOrientation(tempAxisAngle);
 this.approachDistance.set(approachDistance);
}

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

public YoFrameVector3D buildUpdatedYoFrameVectorForVisualizationOnly()
{
 if (yoFrameVectorInWorld == null)
 {
   final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
   if (!isReferenceFrameRegistered(worldFrame))
    registerReferenceFrame(worldFrame);
   yoFrameVectorInWorld = new YoFrameVector3D(namePrefix, worldFrame.getName(), worldFrame, registry);
   attachVariableChangedListener(new VariableChangedListener()
   {
    private final FrameVector3D localFrameVector = new FrameVector3D();
    private final YoFrameVector3D vector = yoFrameVectorInWorld;
    @Override
    public void notifyOfVariableChange(YoVariable<?> v)
    {
      localFrameVector.setIncludingFrame(YoFrameVectorInMultipleFrames.this);
      vector.setMatchingFrame(localFrameVector);
    }
   });
 }
 return yoFrameVectorInWorld;
}

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

@Override
public void getAcceleration(FrameVector accelerationToPack)
{
 currentAcceleration.getFrameTupleIncludingFrame(accelerationToPack);
}

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

initialDirection = new YoFrameVectorInMultipleFrames(namePrefix + "InitialDirection", registry, referenceFrame, distortedPlane);
finalDirection = new YoFrameVectorInMultipleFrames(namePrefix + "FinalDirection", registry, referenceFrame, distortedPlane);
currentPosition = new YoFramePointInMultipleFrames(namePrefix + "CurrentPosition", registry, referenceFrame, distortedPlane);
currentVelocity = new YoFrameVectorInMultipleFrames(namePrefix + "CurrentVelocity", registry, referenceFrame, distortedPlane);
currentAcceleration = new YoFrameVectorInMultipleFrames(namePrefix + "CurrentAcceleration", registry, referenceFrame, distortedPlane);
  final YoGraphicPosition finalPositionViz = new YoGraphicPosition(namePrefix + "FinalPosition", finalPosition, 0.02, YoAppearance.Red());
  final YoGraphicVector initialDirectionViz = new YoGraphicVector(namePrefix + "InitialDirection",
     initialPosition.buildUpdatedYoFramePointForVisualizationOnly(), initialDirection.buildUpdatedYoFrameVectorForVisualizationOnly(), 0.2,
     YoAppearance.BlueViolet());
  final YoGraphicVector finalDirectionViz = new YoGraphicVector(namePrefix + "FinalDirection",
     finalPosition.buildUpdatedYoFramePointForVisualizationOnly(), finalDirection.buildUpdatedYoFrameVectorForVisualizationOnly(), 0.2,
     YoAppearance.Red());
  distortedPlanePose = new YoFramePose(namePrefix + "DistortedPlane", ReferenceFrame.getWorldFrame(), registry);

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

public void setInitialPoseWithInitialVelocity(FramePose initialPose, FrameVector initialVelocity, FrameVector initialAngularVelocity)
{
 initialPose.getPoseIncludingFrame(tempPosition, tempOrientation);
 this.initialPosition.set(tempPosition);
 this.initialVelocity.set(initialVelocity);
 this.initialOrientation.set(tempOrientation);
 this.initialAngularVelocity.set(initialAngularVelocity);
}