本文整理了Java中us.ihmc.robotics.math.frames.YoFrameVector2d类的一些代码示例，展示了YoFrameVector2d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。YoFrameVector2d类的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFrameVector2d
类名称：YoFrameVector2d

YoFrameVector2d介绍

暂无

代码示例

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

public void reset()
{
 icpErrorIntegrated.set(0.0, 0.0);
}

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

public ManualDesiredVelocityControlModule(ReferenceFrame referenceFrame, YoVariableRegistry parentRegistry)
{
 desiredVelocity = new YoFrameVector2d("desiredVelocity", "", referenceFrame, registry);
 parentRegistry.addChild(registry);
}

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

public void update(YoFrameVector2d vector)
{
 checkReferenceFrameMatch(vector.getReferenceFrame());
 xDot.update(vector.getX());
 yDot.update(vector.getY());
}

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

public double cross(YoFrameVector2d yoFrameVector)
{
 checkReferenceFrameMatch(yoFrameVector);
 return cross(yoFrameVector.getFrameTuple2d());
}

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

public double dot(YoFrameVector2d yoFrameVector)
{
 return dot(yoFrameVector.getFrameTuple2d());
}

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

public double cross(FrameVector2d frameVector)
{
 checkReferenceFrameMatch(frameVector);
 return getFrameTuple2d().cross(frameVector);
}

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

public static AccelerationLimitedYoFrameVector2d createAccelerationLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry,
   DoubleYoVariable maxRate, DoubleYoVariable maxAcceleration, double dt, YoFrameVector2d unfilteredVector)
{
 AccelerationLimitedYoVariable x = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoX(), dt);
 AccelerationLimitedYoVariable y = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoY(), dt);
 AccelerationLimitedYoFrameVector2d ret = new AccelerationLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame());
 return ret;
}

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

public void setDesiredCapturePointState(YoFramePoint2d currentDesiredCapturePointPosition, YoFrameVector2d currentDesiredCapturePointVelocity)
{
 // Do not set the Z to zero!
 desiredCapturePointPosition.checkReferenceFrameMatch(currentDesiredCapturePointPosition);
 desiredCapturePointPosition.setX(currentDesiredCapturePointPosition.getX());
 desiredCapturePointPosition.setY(currentDesiredCapturePointPosition.getY());
 desiredCapturePointVelocity.checkReferenceFrameMatch(currentDesiredCapturePointVelocity);
 desiredCapturePointVelocity.setX(currentDesiredCapturePointVelocity.getX());
 desiredCapturePointVelocity.setY(currentDesiredCapturePointVelocity.getY());
}

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

public YoArtifactOval(String name, YoFramePoint2d center, YoFrameVector2d radii, Color color)
{
 super(name, new double[0], color,
    center.getYoX(), center.getYoY(), radii.getYoX(), radii.getYoY());
 this.center = center;
 this.radii = radii;
}

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

@Override
public double calculateCost(FramePose stanceFoot, FramePose swingStartFoot, FramePose idealFootstep, FramePose candidateFootstep, double percentageOfFoothold)
{
 double cost = footstepBaseCost.getDoubleValue();
 setXYVectorFromPoseToPoseNormalize(forwardCostVector, swingStartFoot, idealFootstep);
 setXYVectorFromPoseToPoseNormalize(backwardCostVector, idealFootstep, swingStartFoot);
 inwardCostVector.set(forwardCostVector.getY(), -forwardCostVector.getX());
 outwardCostVector.set(-forwardCostVector.getY(), forwardCostVector.getX());
 upwardCostVector.set(0.0, 0.0, 1.0);
 downwardVector.set(0.0, 0.0, -1.0);
 setVectorFromPoseToPose(idealToCandidateVector, idealFootstep, candidateFootstep);
 setOrientationFromPoseToPose(idealToCandidateOrientation, idealFootstep, candidateFootstep);
 double downwardPenalizationWeightConsideringStancePitch = downwardCostScalar.getDoubleValue();
 if (stanceFoot.getPitch() < 0)
 {
   downwardPenalizationWeightConsideringStancePitch += -stanceFoot.getPitch() * stancePitchDownwardCostScalar.getDoubleValue();
 }
 cost += penalizeCandidateFootstep(forwardCostVector, forwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(backwardCostVector, backwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(inwardCostVector, inwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(outwardCostVector, outwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(upwardCostVector, upwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(downwardVector, downwardPenalizationWeightConsideringStancePitch);
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getYaw().getDoubleValue());
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getPitch().getDoubleValue());
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getRoll().getDoubleValue());
 cost += (1.0 - percentageOfFoothold) * negativeFootholdLinearCostScalar.getDoubleValue();
 return cost;
}

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

icpError.set(capturePoint);
icpError.sub(desiredCapturePoint);
icpError.getFrameTuple2d(tempControl);
double epsilonZeroICPVelocity = 1e-5;
if (desiredCapturePointVelocity.lengthSquared() > MathTools.square(epsilonZeroICPVelocity))
icpError.getFrameTuple2d(tempICPErrorIntegrated);
tempICPErrorIntegrated.scale(controlDT);
tempICPErrorIntegrated.scale(captureKi.getDoubleValue());
icpErrorIntegrated.scale(captureKiBleedoff.getDoubleValue());
icpErrorIntegrated.add(tempICPErrorIntegrated);
double length = icpErrorIntegrated.length();
double maxLength = 0.02;
if (length > maxLength)
  icpErrorIntegrated.scale(maxLength / length);
  icpErrorIntegrated.set(0.0, 0.0);
icpErrorIntegrated.getFrameTuple2d(icpIntegral);
tempControl.add(icpIntegral);
feedbackPart.set(tempControl);
desiredCMP.add(tempControl);

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

copCommandWeightVector = new YoFrameVector2d(footName + "CopCommandWeight", null, registry);
copCommandWeightVector.set(copCommandWeight.getDoubleValue(), copCommandWeight.getDoubleValue());

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

private void computeDesiredICPOffset()
{
 pelvisPositionError.set(desiredPelvisPosition);
 tempPosition2d.setToZero(pelvisZUpFrame);
 tempPosition2d.changeFrame(worldFrame);
 pelvisPositionError.sub(tempPosition2d);
 pelvisPositionError.getFrameTuple2dIncludingFrame(tempError2d);
 tempError2d.scale(controlDT);
 pelvisPositionCumulatedError.add(tempError2d);
 double cumulativeErrorMagnitude = pelvisPositionCumulatedError.length();
 if (cumulativeErrorMagnitude > maximumIntegralError.getDoubleValue())
 {
   pelvisPositionCumulatedError.scale(maximumIntegralError.getDoubleValue() / cumulativeErrorMagnitude);
 }
 proportionalTerm.set(pelvisPositionError);
 proportionalTerm.scale(proportionalGain.getDoubleValue());
 integralTerm.set(pelvisPositionCumulatedError);
 integralTerm.scale(integralGain.getDoubleValue());
 desiredICPOffset.set(proportionalTerm);
 desiredICPOffset.add(integralTerm);
}

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

desiredICPOffset.setToZero();
icpOffsetForFreezing.setToZero();
desiredICPToModify.changeFrame(worldFrame);
tempICPOffset.setIncludingFrame(supportFrame, desiredICPOffset.getX(), desiredICPOffset.getY());
desiredICPOffset.getFrameTuple2dIncludingFrame(tempICPOffset);
tempICPOffset.changeFrame(supportFrame);
desiredICPOffset.setAndMatchFrame(icpOffsetForFreezing);
desiredICPToModify.changeFrame(icpOffsetForFreezing.getReferenceFrame());
desiredICPToModify.add(icpOffsetForFreezing);

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

@Override
  public void variableChanged(YoVariable<?> v)
  {
   counterGrid.reshape(nLengthSubdivisions.getIntegerValue(), nWidthSubdivisions.getIntegerValue());
   occupancyGrid.reshape(nLengthSubdivisions.getIntegerValue(), nWidthSubdivisions.getIntegerValue());
   cellSize.setX(footLength / nLengthSubdivisions.getIntegerValue());
   cellSize.setY(footWidth / nWidthSubdivisions.getIntegerValue());
   cellArea.set(cellSize.getX() * cellSize.getY());
  }
};

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

private void setXYVectorFromPoseToPoseNormalize(YoFrameVector2d vectorToPack, FramePose fromPose, FramePose toPose)
{
 if (fromPose.epsilonEquals(toPose, 1e-7, Double.MAX_VALUE))
 {
   vectorToPack.set(fromPose.getReferenceFrame(), 0.0, 0.0);
 }
 else
 {
   FrameVector2d frameTuple2d = vectorToPack.getFrameTuple2d();
   frameTuple2d.setByProjectionOntoXYPlane(toPose.getFramePointCopy());
   fromPose.checkReferenceFrameMatch(vectorToPack);
   frameTuple2d.sub(fromPose.getX(), fromPose.getY());
   frameTuple2d.normalize();
   vectorToPack.setWithoutChecks(frameTuple2d);
 }
}

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

public void setDesiredVelocity(FrameVector2d newDesiredVelocity)
{
 newDesiredVelocity.changeFrame(desiredVelocity.getReferenceFrame());
 desiredVelocity.set(newDesiredVelocity);
}

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

copCommandWeightVector.set(copCommandWeight.getDoubleValue(), copCommandWeight.getDoubleValue());
copCommandWeightVector.get(tempVector2d);
centerOfPressureCommand.setWeight(tempVector2d);

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

icpError.set(currentICP);
icpError.sub(solutionHandler.getControllerReferenceICP());
controllerFeedbackCMPDelta.set(desiredCMPDelta);

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

yoCoPError.get(robotSide).setToZero();
 yoCoPErrorMagnitude.get(robotSide).set(0.0);
 yoCoPError.get(robotSide).setToZero();
 yoCoPErrorMagnitude.get(robotSide).set(0.0);
yoCoPError.get(robotSide).set(copError);
yoCoPErrorMagnitude.get(robotSide).set(copError.length());