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us.ihmc.robotics.math.trajectories.YoConcatenatedSplines.getT0()方法的使用及代码示例

转载 作者:知者 更新时间:2024-03-14 23:31:31 26 4
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本文整理了Java中us.ihmc.robotics.math.trajectories.YoConcatenatedSplines.getT0()方法的一些代码示例,展示了YoConcatenatedSplines.getT0()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。YoConcatenatedSplines.getT0()方法的具体详情如下:
包路径:us.ihmc.robotics.math.trajectories.YoConcatenatedSplines
类名称:YoConcatenatedSplines
方法名:getT0

YoConcatenatedSplines.getT0介绍

暂无

代码示例

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

public double approximateTimeFromArcLength(double arcLength)
{
 if (arcLength > this.arcLength.getDoubleValue())
 {
   return getTf() - getT0();
 }
 int splineIndex = 0;
 double runningArcLengthCounter = arcLength;
 double runningTimeCounter = getT0();
 double deltaArcLength = splines.get(splineIndex).getArcLength();
 while (runningArcLengthCounter - deltaArcLength > EPSILON)
 {
   runningArcLengthCounter -= deltaArcLength;
   runningTimeCounter += splines.get(splineIndex).getTotalTime();
   splineIndex++;
   deltaArcLength = splines.get(splineIndex).getArcLength();
 }
 runningTimeCounter += splines.get(splineIndex).getApproximateTimeForArcLength(runningArcLengthCounter);
 return runningTimeCounter;
}

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

public double approximateTimeFromArcLength(double arcLength)
{
 if (arcLength > this.arcLength.getDoubleValue())
 {
   return getTf() - getT0();
 }
 int splineIndex = 0;
 double runningArcLengthCounter = arcLength;
 double runningTimeCounter = getT0();
 double deltaArcLength = splines.get(splineIndex).getArcLength();
 while (runningArcLengthCounter - deltaArcLength > EPSILON)
 {
   runningArcLengthCounter -= deltaArcLength;
   runningTimeCounter += splines.get(splineIndex).getTotalTime();
   splineIndex++;
   deltaArcLength = splines.get(splineIndex).getArcLength();
 }
 runningTimeCounter += splines.get(splineIndex).getApproximateTimeForArcLength(runningArcLengthCounter);
 return runningTimeCounter;
}

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

private void visualizeSpline()
{
 double t0;
 double tf;
 double t;
 for (int i = 0; i < numberOfVisualizationMarkers; i++)
 {
   t0 = concatenatedSplinesWithArcLengthCalculatedIteratively.getT0();
   tf = concatenatedSplinesWithArcLengthCalculatedIteratively.getTf();
   t = t0 + (double) i / (double) (numberOfVisualizationMarkers) * (tf - t0);
   compute(t);
   trajectoryBagOfBalls.setBall(desiredPosition.getFramePointCopy(), i);
 }
 for (int i = 0; i < nonAccelerationEndpointIndices.length; i++)
 {
   fixedPointBagOfBalls.setBall(allPositions[nonAccelerationEndpointIndices[i]].getFramePointCopy(), YoAppearance.AliceBlue(), i);
 }
}

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