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本文整理了Java中us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory.getPosition()方法的一些代码示例，展示了YoMinimumJerkTrajectory.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。YoMinimumJerkTrajectory.getPosition()方法的具体详情如下：
包路径：us.ihmc.robotics.math.trajectories.YoMinimumJerkTrajectory
类名称：YoMinimumJerkTrajectory
方法名：getPosition
暂无
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 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/ihmc-robotics-toolkit
public void getPosition(FramePoint3D positionToPack)
{
double parameter = minimumJerkTrajectory.getPosition();
parameter = MathTools.clamp(parameter, 0.0, 1.0);
parabolicTrajectoryGenerator.getPosition(positionToPack, parameter);
}代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit
public void getPosition(FramePoint3D positionToPack)
{
double parameter = minimumJerkTrajectory.getPosition();
parameter = MathTools.clamp(parameter, 0.0, 1.0);
parabolicTrajectoryGenerator.getPosition(positionToPack, parameter);
}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/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 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/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-whole-body-controller
private void updatePDController(OneDoFJointBasics oneDoFJoint, double timeInCurrentState)
{
PDController pdController = pdControllers.get(oneDoFJoint);
YoMinimumJerkTrajectory transitionSpline = transitionSplines.get(oneDoFJoint);
double desiredPosition = transitionSpline.getPosition();
double desiredVelocity = transitionSpline.getVelocity();
// Setting the desired positions via SCS ui.
if (manualMode.getBooleanValue())
{
desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
desiredVelocity = 0.0;
}
else
{
desiredPositions.get(oneDoFJoint).set(desiredPosition);
}
desiredVelocities.get(oneDoFJoint).set(desiredVelocity);
double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
tau = tau * diagnosticsPDMasterGain.getDoubleValue();
DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
if (diagnosticsWhenHangingHelper != null)
{
tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, adaptTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
}
double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
oneDoFJoint.setTau(tau + ditherTorque);
}代码示例来源：origin: us.ihmc/IHMCWholeBodyController
private void updatePDController(OneDoFJoint oneDoFJoint, double timeInCurrentState)
{
PDController pdController = pdControllers.get(oneDoFJoint);
YoMinimumJerkTrajectory transitionSpline = transitionSplines.get(oneDoFJoint);
double desiredPosition = transitionSpline.getPosition();
double desiredVelocity = transitionSpline.getVelocity();
// Setting the desired positions via SCS ui.
if (manualMode.getBooleanValue())
{
desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
desiredVelocity = 0.0;
}
else
{
desiredPositions.get(oneDoFJoint).set(desiredPosition);
}
desiredVelocities.get(oneDoFJoint).set(desiredVelocity);
double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
tau = tau * diagnosticsPDMasterGain.getDoubleValue();
DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
if (diagnosticsWhenHangingHelper != null)
{
tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, adaptTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
}
double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
oneDoFJoint.setTau(tau + ditherTorque);
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
@Deprecated
public void updateToFinalPosition(double currentTime, double Xf)
{
computeTrajectory(currentTime);
this.T0.set(currentTime);
this.Xf.set(Xf);
this.X0.set(getPosition());
this.V0.set(getVelocity());
this.A0.set(getAcceleration());
this.computeConstants();
}代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit
@Deprecated
public void updateToFinalPosition(double currentTime, double Xf)
{
computeTrajectory(currentTime);
this.T0.set(currentTime);
this.Xf.set(Xf);
this.X0.set(getPosition());
this.V0.set(getVelocity());
this.A0.set(getAcceleration());
this.computeConstants();
}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
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
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/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
assertEquals(x0, minimumJerkTrajectory.getPosition(), epsilon);
assertEquals(v0, minimumJerkTrajectory.getVelocity(), epsilon);
assertEquals(a0, minimumJerkTrajectory.getAcceleration(), epsilon);
assertEquals(xf, minimumJerkTrajectory.getPosition(), epsilon);
assertEquals(vf, minimumJerkTrajectory.getVelocity(), epsilon);
assertEquals(af, minimumJerkTrajectory.getAcceleration(), epsilon);
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