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

YoTrajectory.getInitialTime介绍

暂无

代码示例

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

public double getInitialTime()
{
 if (MathTools.epsilonCompare(xTrajectory.getInitialTime(), yTrajectory.getInitialTime(), Epsilons.ONE_THOUSANDTH)
    && MathTools.epsilonCompare(xTrajectory.getInitialTime(), zTrajectory.getInitialTime(), Epsilons.ONE_THOUSANDTH))
   return xTrajectory.getInitialTime();
 else
 {
   //PrintTools.warn("Trajectory initial times do not match. Using X trajectory times for computation");
   return xTrajectory.getInitialTime();
 }
}

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

public double getInitialTime(Axis dir)
{
 return getYoTrajectory(dir).getInitialTime();
}

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

public double getInitialTime(int index)
{
 return getYoTrajectory(index).getInitialTime();
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void calculateGeneralizedGammaPrimeOnCMPSegment(DenseMatrix64F generalizedGammaPrime, int gammaDerivativeOrder, YoTrajectory cmpPolynomial, double time, double omega0)
{      
 double timeSegmentTotal = cmpPolynomial.getFinalTime() - cmpPolynomial.getInitialTime();
 
 double ddGamaPrimeValue = Math.pow(omega0, gammaDerivativeOrder)*Math.exp(omega0 * (time - timeSegmentTotal));
 generalizedGammaPrime.set(0, 0, ddGamaPrimeValue);
}

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

public boolean timeIntervalContains(double timeToCheck, double EPSILON)
{
 return MathTools.intervalContains(timeToCheck, getInitialTime(), getFinalTime(), EPSILON);
}

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

public boolean timeIntervalContains(double timeToCheck)
{
 return MathTools.intervalContains(timeToCheck, getInitialTime(), getFinalTime(), Epsilons.ONE_MILLIONTH);
}

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

public void getFramePositionInitial(FramePoint3D positionToPack)
{
 compute(xTrajectory.getInitialTime());
 PrintTools.debug("Initial time = " + xTrajectory.getInitialTime());
 positionToPack.setToZero(referenceFrame);
 positionToPack.set(getPosition());
}

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

public boolean isValidTrajectory()
{
 boolean retVal = (getInitialTime() < getFinalTime()) && Double.isFinite(getInitialTime()) && Double.isFinite(getFinalTime());
 double[] coeffs = getCoefficients();
 for(int i = 0; retVal && i < coeffs.length; i++)
   retVal &= Double.isFinite(coeffs[i]);
 return retVal;
}

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

public void set(YoTrajectory other)
{
 polynomial.set(other.polynomial);
 tInitial.set(other.getInitialTime());
 tFinal.set(other.getFinalTime());
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

public double calculateICPLinearManual(YoTrajectory linear, double icpPositionDesiredFinal, double t, double omega0)
{
 double icpManual = 0.0;
 
 linear.compute(linear.getInitialTime());
 double cmpRefInit = linear.getPosition();
 
 linear.compute(linear.getFinalTime());
 double cmpRefFinal = linear.getPosition();
 
 double T = linear.getFinalTime();
 
 double sigmat = calculateSigmaLinear(t, T, omega0);
 double sigmaT = calculateSigmaLinear(T, T, omega0);
 
 icpManual = (1 - sigmat - Math.exp(omega0*(t-T)) * (1 - sigmaT)) * cmpRefInit
       + (sigmat - Math.exp(omega0*(t-T)) * sigmaT) * cmpRefFinal
       + Math.exp(omega0*(t-T)) * icpPositionDesiredFinal;
 
 return icpManual;
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void calculateGeneralizedBetaPrimeOnCMPSegment(DenseMatrix64F generalizedBetaPrime, int betaDerivativeOrder, YoTrajectory cmpPolynomial, double time, double omega0)
{            
 int numberOfCoefficients = cmpPolynomial.getNumberOfCoefficients();
 double timeSegmentTotal = cmpPolynomial.getFinalTime() - cmpPolynomial.getInitialTime();
 
 DenseMatrix64F tPowersDerivativeVector = new DenseMatrix64F(numberOfCoefficients, 1);
 DenseMatrix64F tPowersDerivativeVectorTranspose = new DenseMatrix64F(1, numberOfCoefficients);
 for(int i = 0; i < numberOfCoefficients; i++)
 {
   tPowersDerivativeVector.zero();
   tPowersDerivativeVectorTranspose.zero();
   tPowersDerivativeVector.set(cmpPolynomial.getXPowersDerivativeVector(i, timeSegmentTotal));
   CommonOps.transpose(tPowersDerivativeVector, tPowersDerivativeVectorTranspose);
       
   double scalar = Math.pow(omega0, betaDerivativeOrder-i) * Math.exp(omega0*(time-timeSegmentTotal));
   CommonOps.addEquals(generalizedBetaPrime, scalar, tPowersDerivativeVectorTranspose);
 }
}

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

public void getDerivative(YoTrajectory dervTraj, int order)
{
 if (dervTraj.getMaximumNumberOfCoefficients() < this.getNumberOfCoefficients() - order)
   return;
 dervTraj.polynomial.reshape(getNumberOfCoefficients() - order);
 for (int i = order; i < this.getNumberOfCoefficients(); i++)
 {
   dervTraj.polynomial.setDirectlyFast(i - order, this.polynomial.getDerivativeCoefficient(order, i) * this.polynomial.getCoefficient(i));
 }
 dervTraj.setInitialTime(this.getInitialTime());
 dervTraj.setFinalTime(this.getFinalTime());
}