本文整理了Java中us.ihmc.robotics.math.trajectories.YoConcatenatedSplines.getPosition()方法的一些代码示例，展示了YoConcatenatedSplines.getPosition()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.getPosition()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：getPosition

YoConcatenatedSplines.getPosition介绍

暂无

代码示例

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

public void setQuintics(YoConcatenatedSplines oldSplines, double[] oldTimes, double[] newTimes)
{
 MathTools.checkEquals(oldTimes.length, newTimes.length);
 MathTools.checkEquals(oldTimes.length, rangeList.size() + 1);
 for (int i = 0; i < oldTimes.length - 1; i++)
 {
   YoSpline3D spline = splines.get(i);
   oldSplines.compute(oldTimes[i]);
   double t0 = newTimes[i];
   FramePoint3D p0 = oldSplines.getPosition();
   FrameVector3D pd0 = oldSplines.getVelocity();
   FrameVector3D pdd0 = oldSplines.getAcceleration();
   oldSplines.compute(oldTimes[i + 1]);
   double tf = newTimes[i + 1];
   FramePoint3D pf = oldSplines.getPosition();
   FrameVector3D pdf = oldSplines.getVelocity();
   FrameVector3D pddf = oldSplines.getAcceleration();
   spline.setQuintic(t0, tf, p0, pd0, pdd0, pf, pdf, pddf);
   rangeList.get(i).getLeft().set(t0);
   rangeList.get(i).getRight().set(tf);
 }
 setArcLength();
}

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

public void setQuintics(YoConcatenatedSplines oldSplines, double[] oldTimes, double[] newTimes)
{
 MathTools.checkIfEqual(oldTimes.length, newTimes.length);
 MathTools.checkIfEqual(oldTimes.length, rangeList.size() + 1);
 for (int i = 0; i < oldTimes.length - 1; i++)
 {
   YoSpline3D spline = splines.get(i);
   oldSplines.compute(oldTimes[i]);
   double t0 = newTimes[i];
   FramePoint p0 = oldSplines.getPosition();
   FrameVector pd0 = oldSplines.getVelocity();
   FrameVector pdd0 = oldSplines.getAcceleration();
   oldSplines.compute(oldTimes[i + 1]);
   double tf = newTimes[i + 1];
   FramePoint pf = oldSplines.getPosition();
   FrameVector pdf = oldSplines.getVelocity();
   FrameVector pddf = oldSplines.getAcceleration();
   spline.setQuintic(t0, tf, p0, pd0, pdd0, pf, pdf, pddf);
   rangeList.get(i).getLeft().set(t0);
   rangeList.get(i).getRight().set(tf);
 }
 setArcLength();
}

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

public void compute(double time)
{
 timeIntoStep.set(time);
 double totalTime = stepTime.getDoubleValue();
 if (time > totalTime)
   time = totalTime;
 concatenatedSplinesWithArcLengthCalculatedIteratively.compute(time);
 concatenatedSplinesWithArcLengthCalculatedIteratively.getPosition(desiredPosition);
 concatenatedSplinesWithArcLengthCalculatedIteratively.getVelocity(desiredVelocity);
 concatenatedSplinesWithArcLengthCalculatedIteratively.getAcceleration(desiredAcceleration);
 // concatenatedSplinesWithArcLengthCalculatedIteratively.compute(time - stepTime.getDoubleValue() / (double) numberOfTimeIntervals);
 // FrameVector previousVelocity = concatenatedSplinesWithArcLengthCalculatedIteratively.getVelocity();
 //
 // concatenatedSplinesWithArcLengthCalculatedIteratively.compute(time + stepTime.getDoubleValue() / (double) numberOfTimeIntervals);
 // FrameVector nextVelocity = concatenatedSplinesWithArcLengthCalculatedIteratively.getVelocity();
 //
 // desiredAcceleration.set(nextVelocity);
 // desiredAcceleration.sub(previousVelocity);
 // desiredAcceleration.scale(0.5 * (double) numberOfTimeIntervals / stepTime.getDoubleValue());
}

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

FramePoint3D originalPosition = originalSplines.getPosition();
FramePoint3D respacedPosition = respacedSplines.getPosition();
FrameVector3D originalVelocity = originalSplines.getVelocity();
FrameVector3D respacedVelocity = respacedSplines.getVelocity();

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

@ContinuousIntegrationTest(estimatedDuration = 1.7)
@Test(timeout = 30000)
public void testSimpleCubicQuinticCubic()
{
 int trials = 50;
 for (int trial = 0; trial < trials; trial++)
 {
   YoVariableRegistry registry = new YoVariableRegistry("ConcatenatedSplinesTest");
   double[] times = getRandomTimes(4);
   FramePoint3D[] positions = getRandomPositions(4);
   FrameVector3D[] velocities = getRandomVelocities(4);
      YoConcatenatedSplines concatenatedSplines = new YoConcatenatedSplines(new int[] {4, 6, 4}, worldFrame, 100, registry, "original");
   concatenatedSplines.setCubicQuinticCubic(times, positions, velocities);
   for (int i = 0; i < 4; i++)
   {
    concatenatedSplines.compute(times[i]);
    FramePoint3D expectedPosition = positions[i];
    FramePoint3D actualPosition = concatenatedSplines.getPosition();
    FrameVector3D expectedVelocity = velocities[i];
    FrameVector3D actualVelocity = concatenatedSplines.getVelocity();
    for (Axis axis : Axis.values())
    {
      assertEquals(expectedPosition.getElement(axis.ordinal()), actualPosition.getElement(axis.ordinal()), EPSILON);
      assertEquals(expectedVelocity.getElement(axis.ordinal()), actualVelocity.getElement(axis.ordinal()), EPSILON);
    }
   }
 }
}

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

FramePoint3D actualPosition = concatenatedSplines.getPosition();
FrameVector3D expectedVelocity = velocities[i];
FrameVector3D actualVelocity = concatenatedSplines.getVelocity();