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

YoParabolicTrajectoryGenerator介绍

暂无

代码示例

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

public void getPosition(FramePoint positionToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getPosition(positionToPack, parameter);
}

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

public ReferenceFrame getReferenceFrame()
{
 return parabolicTrajectoryGenerator.getReferenceFrame();
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void testInitialVelocity()
  {
   YoVariableRegistry registry = new YoVariableRegistry("registry");
   Random random = new Random(186L);
   ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
   YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);

   FramePoint3D initialPosition = new FramePoint3D(referenceFrame, RandomGeometry.nextVector3D(random));
   FrameVector3D initialVelocity = new FrameVector3D(referenceFrame, RandomGeometry.nextVector3D(random));
   FramePoint3D finalPosition = new FramePoint3D(referenceFrame, RandomGeometry.nextVector3D(random));
   trajectoryGenerator.initialize(initialPosition, initialVelocity, finalPosition);

   FramePoint3D initialPositionBack = new FramePoint3D(referenceFrame);
   trajectoryGenerator.getPosition(initialPositionBack, 0.0);

   FrameVector3D initialVelocityBack = new FrameVector3D(referenceFrame);
   trajectoryGenerator.getVelocity(initialVelocityBack, 0.0);

   FramePoint3D finalPositionBack = new FramePoint3D(referenceFrame);
   trajectoryGenerator.getPosition(finalPositionBack, 1.0);

   double delta = 0.0;
   EuclidCoreTestTools.assertTuple3DEquals(initialPosition, initialPositionBack, delta);
   EuclidCoreTestTools.assertTuple3DEquals(initialVelocity, initialVelocityBack, delta);
   EuclidCoreTestTools.assertTuple3DEquals(finalPosition, finalPositionBack, delta);
  }
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testConditions()
{
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 double intermediateParameter = 0.5;
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 double delta = 1e-10;
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 trajectoryGenerator.getPosition(positionToPack, 0.0);
 EuclidCoreTestTools.assertTuple3DEquals(initialPosition, positionToPack, delta);
 trajectoryGenerator.getPosition(positionToPack, intermediateParameter);
 EuclidCoreTestTools.assertTuple3DEquals(intermediatePosition, positionToPack, delta);
 trajectoryGenerator.getPosition(positionToPack, 1.0);
 EuclidCoreTestTools.assertTuple3DEquals(finalPosition, positionToPack, delta);
}

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

public void getAcceleration(FrameVector3D accelerationToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getAcceleration(accelerationToPack);
 accelerationToPack.scale(minimumJerkTrajectory.getVelocity() * minimumJerkTrajectory.getVelocity());
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 tempVector.scale(minimumJerkTrajectory.getAcceleration());
 accelerationToPack.add(tempVector);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter2()
{
 double intermediateParameter = -0.1;
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
}

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

public void initialize()
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 FramePoint3D initialPosition = new FramePoint3D(ReferenceFrame.getWorldFrame());
 initialPositionProvider.getPosition(initialPosition);
 FramePoint3D finalPosition = new FramePoint3D(ReferenceFrame.getWorldFrame());
 finalPositionProvider.getPosition(finalPosition);
 initialPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 finalPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 double maxAnkleHeight = Math.max(initialPosition.getZ(), finalPosition.getZ());
 double apexHeight = maxAnkleHeight + groundClearance.getDoubleValue();
 parabolicTrajectoryGenerator.initialize(initialPosition, finalPosition, apexHeight, middleOfTrajectoryParameter);
}

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

public void getVelocity(FrameVector velocityToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 velocityToPack.setIncludingFrame(tempVector);
 velocityToPack.scale(minimumJerkTrajectory.getVelocity());
}

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

public void initialize(FramePoint initialPosition, FrameVector initialVelocity, FrameVector initialAcceleration, FramePoint finalDesiredPosition,
           FrameVector finalDesiredVelocity)
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 parabolicTrajectoryGenerator.initialize(initialPosition, finalDesiredPosition, groundClearance.getDoubleValue(), middleOfTrajectoryParameter);
}

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

public ParabolicCartesianTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, double groundClearance,
                      YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new YoDouble("groundClearance", registry);
 this.stepTime = new YoDouble("stepTime", registry);
 this.timeIntoStep = new YoDouble("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.groundClearance.set(groundClearance);
}

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

Random random = new Random(186L);
ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
  FramePoint3D finalPosition = new FramePoint3D(referenceFrame, RandomGeometry.nextVector3D(random));
  double intermediateParameter = random.nextDouble();
  trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
  double parameter = random.nextDouble();
  trajectoryGenerator.getPosition(position1, parameter);
  trajectoryGenerator.getPosition(position2, parameter + dt);
  trajectoryGenerator.getVelocity(velocityFromTrajectoryGenerator, parameter);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter3()
{
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 YoParabolicTrajectoryGenerator trajectoryGenerator = null;
 try
 {
   double intermediateParameter = 0.7;
   FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
   FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
   FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
   YoVariableRegistry registry = new YoVariableRegistry("registry");
   trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
   trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 }
 catch (RuntimeException e)
 {
   fail();
 }
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 trajectoryGenerator.getPosition(positionToPack, 1.1);
}

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

public void getAcceleration(FrameVector accelerationToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clipToMinMax(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getAcceleration(accelerationToPack);
 accelerationToPack.scale(minimumJerkTrajectory.getVelocity() * minimumJerkTrajectory.getVelocity());
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 tempVector.scale(minimumJerkTrajectory.getAcceleration());
 accelerationToPack.add(tempVector);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000,expected = RuntimeException.class)
public void testIllegalParameter1()
{
 double intermediateParameter = 1.1;
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 1.0);
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
}

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

public void initialize()
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 FramePoint initialPosition = new FramePoint(ReferenceFrame.getWorldFrame());
 initialPositionProvider.getPosition(initialPosition);
 FramePoint finalPosition = new FramePoint(ReferenceFrame.getWorldFrame());
 finalPositionProvider.getPosition(finalPosition);
 initialPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 finalPosition.changeFrame(parabolicTrajectoryGenerator.getReferenceFrame());
 double maxAnkleHeight = Math.max(initialPosition.getZ(), finalPosition.getZ());
 double apexHeight = maxAnkleHeight + groundClearance.getDoubleValue();
 parabolicTrajectoryGenerator.initialize(initialPosition, finalPosition, apexHeight, middleOfTrajectoryParameter);
}

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

public void getVelocity(FrameVector3D velocityToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 velocityToPack.setIncludingFrame(tempVector);
 velocityToPack.scale(minimumJerkTrajectory.getVelocity());
}

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

@Override
public void initialize(FramePoint3D initialPosition, FrameVector3D initialVelocity, FrameVector3D initialAcceleration, FramePoint3D finalDesiredPosition,
           FrameVector3D finalDesiredVelocity)
{
 timeIntoStep.set(0.0);
 this.stepTime.set(stepTimeProvider.getValue());
 if (stepTime.getDoubleValue() < 1e-10)
 {
   stepTime.set(1e-10);
 }
 minimumJerkTrajectory.setParams(0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, stepTime.getDoubleValue());
 double middleOfTrajectoryParameter = 0.5;
 parabolicTrajectoryGenerator.initialize(initialPosition, finalDesiredPosition, groundClearance.getDoubleValue(), middleOfTrajectoryParameter);
}

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

public ParabolicCartesianTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider stepTimeProvider, double groundClearance,
    YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + namePostFix);
 this.minimumJerkTrajectory = new YoMinimumJerkTrajectory(namePrefix, registry);
 this.parabolicTrajectoryGenerator = new YoParabolicTrajectoryGenerator(namePrefix, referenceFrame, registry);
 this.groundClearance = new DoubleYoVariable("groundClearance", registry);
 this.stepTime = new DoubleYoVariable("stepTime", registry);
 this.timeIntoStep = new DoubleYoVariable("timeIntoStep", registry);
 parentRegistry.addChild(registry);
 this.stepTimeProvider = stepTimeProvider;
 this.groundClearance.set(groundClearance);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testApex()
{
 YoVariableRegistry registry = new YoVariableRegistry("registry");
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 FramePoint3D initialPosition = new FramePoint3D(referenceFrame, 0.0, 0.0, 0.0);
 FramePoint3D intermediatePosition = new FramePoint3D(referenceFrame, 0.5, 0.5, 2.5);
 FramePoint3D finalPosition = new FramePoint3D(referenceFrame, 1.0, 1.0, 0.0);
 double intermediateParameter = 0.5;
 YoParabolicTrajectoryGenerator trajectoryGenerator = new YoParabolicTrajectoryGenerator("test", referenceFrame, registry);
 trajectoryGenerator.initialize(initialPosition, intermediatePosition, finalPosition, intermediateParameter);
 double delta = 1e-10;
 FramePoint3D positionToPack = new FramePoint3D(referenceFrame);
 int n = 1000;
 double smallestDifference = Double.POSITIVE_INFINITY;
 for (int i = 0; i < n; i++)
 {
   double parameter = i / (double) n;
   trajectoryGenerator.getPosition(positionToPack, parameter);
   double difference = intermediatePosition.getZ() - positionToPack.getZ();
   if (difference < smallestDifference)
    smallestDifference = difference;
 }
 assertTrue(smallestDifference < delta);
 assertTrue(smallestDifference >= 0.0);
}

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

public void getAcceleration(FrameVector3D accelerationToPack)
{
 double parameter = minimumJerkTrajectory.getPosition();
 parameter = MathTools.clamp(parameter, 0.0, 1.0);
 parabolicTrajectoryGenerator.getAcceleration(accelerationToPack);
 accelerationToPack.scale(minimumJerkTrajectory.getVelocity() * minimumJerkTrajectory.getVelocity());
 parabolicTrajectoryGenerator.getVelocity(tempVector, parameter);
 tempVector.scale(minimumJerkTrajectory.getAcceleration());
 accelerationToPack.add(tempVector);
}