本文整理了Java中us.ihmc.robotics.math.trajectories.YoSpline3D.getPositionCopy()方法的一些代码示例，展示了YoSpline3D.getPositionCopy()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。YoSpline3D.getPositionCopy()方法的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.YoSpline3D
类名称：YoSpline3D
方法名：getPositionCopy

YoSpline3D.getPositionCopy介绍

暂无

代码示例

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

pf = splines.get(1).getPositionCopy();
spline.setCubic(t0, tf, p0, pd0, pf, pdf);
p0 = splines.get(3).getPositionCopy();
spline.setCubic(t0, tf, p0, pd0, pf, pdf);

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

pf = splines.get(1).getPositionCopy();
spline.setCubic(t0, tf, p0, pd0, pf, pdf);
p0 = splines.get(3).getPositionCopy();
spline.setCubic(t0, tf, p0, pd0, pf, pdf);

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

pf = splines.get(1).getPositionCopy();
FrameVector pddf = zero;
spline.setQuarticUsingFinalAcceleration(t0, tf, p0, pd0, pf, pdf, pddf);
p0 = splines.get(3).getPositionCopy();
FrameVector pdd0 = zero;
spline.setQuarticUsingInitialAcceleration(t0, tf, p0, pd0, pdd0, pf, pdf);

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

pf = splines.get(1).getPositionCopy();
FrameVector3D pddf = zero;
spline.setQuarticUsingFinalAcceleration(t0, tf, p0, pd0, pf, pdf, pddf);
p0 = splines.get(3).getPositionCopy();
FrameVector3D pdd0 = zero;
spline.setQuarticUsingInitialAcceleration(t0, tf, p0, pd0, pdd0, pf, pdf);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetVelocity()
{
  Random random = new Random(557975L);
  YoSpline3D spline = generateRandomQuintic(random);
    double t = 2 * (random.nextDouble() - 1);
  double dt = 1e-9;
  spline.compute(t);
  FrameVector3D actual = spline.getVelocityCopy();
  FramePoint3D pos1 = spline.getPositionCopy();
  spline.compute(t + dt);
  FramePoint3D pos2 = spline.getPositionCopy();
  FrameVector3D numerical = new FrameVector3D(worldFrame, (pos2.getX() - pos1.getX()) / dt, (pos2.getY() - pos1.getY()) / dt, (pos2.getZ() - pos1.getZ()) / dt);
  assertEquals(numerical.getX(), actual.getX(), 1e-5);
  assertEquals(numerical.getY(), actual.getY(), 1e-5);
  assertEquals(numerical.getZ(), actual.getZ(), 1e-5);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testCubic()
{
 //cubic is constructed such that x(t) = t^3 + 2t^2 + t + 1, y(t) = 2t^3 + t + 4, z(t) = t^2 + 7
 YoVariableRegistry registry = new YoVariableRegistry("Spline3DTest");
 YoSpline3D cubic = new YoSpline3D(4, 4, worldFrame, registry, "");
 double t0 = 1.0;
 double tf = 5.0;
 FramePoint3D p0 = new FramePoint3D(worldFrame, 5.0, 7.0, 8.0);
 FrameVector3D pd0 = new FrameVector3D(worldFrame, 8.0, 7.0, 2.0);
 FramePoint3D pf = new FramePoint3D(worldFrame, 181.0, 259.0, 32.0);
 FrameVector3D pdf = new FrameVector3D(worldFrame, 96.0, 151.0, 10.0);
 
 cubic.setCubic(t0, tf, p0, pd0, pf, pdf);
 
 FramePoint3D expected = new FramePoint3D(worldFrame, 49.0, 61.0, 16.0);
 cubic.compute(3.0);
 FramePoint3D actual = cubic.getPositionCopy();
 
 for (Axis axis : Axis.values())
 {
   assertEquals(expected.getElement(axis.ordinal()), actual.getElement(axis.ordinal()), EPSILON);
 }
 
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testQuintic()
{
 YoVariableRegistry registry = new YoVariableRegistry("Spline3DTest");
  YoSpline3D quintic = new YoSpline3D(6, 4, worldFrame, registry, "");
  // quintic is constructed such that x(t) = t^5 - t^3 + t - 1, y(t) = 2t^5 - 4, z(t) = t^5 + 2t^4
  double t0 = 0.0;
  double tf = 1.0;
  FramePoint3D p0 = new FramePoint3D(worldFrame, -1.0, -4.0, 0.0);
  FrameVector3D pd0 = new FrameVector3D(worldFrame, 1.0, 0.0, 0.0);
  FrameVector3D pdd0 = new FrameVector3D(worldFrame, 0.0, 0.0, 0.0);   
  FramePoint3D pf = new FramePoint3D(worldFrame, 0.0, -2.0, 3.0);
  FrameVector3D pdf = new FrameVector3D(worldFrame, 3.0, 10.0, 13.0);
  FrameVector3D pddf = new FrameVector3D(worldFrame, 14.0, 40.0, 44.0);
  quintic.setQuintic(t0, tf, p0, pd0, pdd0, pf, pdf, pddf);
    FramePoint3D expected = new FramePoint3D(worldFrame, -0.59375, -3.9375, 0.15625);
  quintic.compute(0.5);
  FramePoint3D actual = quintic.getPositionCopy();
   
  for (Axis axis : Axis.values())
  {
   assertEquals(expected.getElement(axis.ordinal()), actual.getElement(axis.ordinal()), EPSILON);
  }   
}