us.ihmc.yoVariables.variable.YoFrameQuaternion.getYoQz()方法的使用及代码示例

转载 作者：知者 更新时间：2024-03-15 07:28:49 26 4

/**
* Gets the internal reference to the z-component used for the orientation of this pose.
* 
* @return the position z-coordinate as {@code YoVariable}.
*/
public YoDouble getYoQz()
{
 return orientation.getYoQz();
}

public YoVariable<?>[] getVariables()
{
 YoVariable<?>[] vars = new YoVariable[isUsingYawPitchRoll() ? 6 : 7];
 int i = 0;
 vars[i++] = yoFramePoint.getYoX();
 vars[i++] = yoFramePoint.getYoY();
 vars[i++] = yoFramePoint.getYoZ();
 if (isUsingYawPitchRoll())
 {
   vars[i++] = yoFrameYawPitchRoll.getYaw();
   vars[i++] = yoFrameYawPitchRoll.getPitch();
   vars[i++] = yoFrameYawPitchRoll.getRoll();
 }
 else
 {
   vars[i++] = yoFrameQuaternion.getYoQx();
   vars[i++] = yoFrameQuaternion.getYoQy();
   vars[i++] = yoFrameQuaternion.getYoQz();
   vars[i++] = yoFrameQuaternion.getYoQs();
 }
 return vars;
}

@Override
public YoDouble[] getVariables()
{
 YoDouble[] vars = new YoDouble[isUsingYawPitchRoll() ? 6 : 7];
 int i = 0;
 vars[i++] = position.getYoX();
 vars[i++] = position.getYoY();
 vars[i++] = position.getYoZ();
 if (isUsingYawPitchRoll())
 {
   vars[i++] = yawPitchRoll.getYaw();
   vars[i++] = yawPitchRoll.getPitch();
   vars[i++] = yawPitchRoll.getRoll();
 }
 else
 {
   vars[i++] = quaternion.getYoQx();
   vars[i++] = quaternion.getYoQy();
   vars[i++] = quaternion.getYoQz();
   vars[i++] = quaternion.getYoQs();
 }
 return vars;
}

/**
* Creates a copy of {@code this} by finding the duplicated {@code YoVariable}s in the given
* {@link YoVariableRegistry}.
* <p>
* This method does not duplicate {@code YoVariable}s. Assuming the given registry is a duplicate
* of the registry that was used to create {@code this}, this method searches for the duplicated
* {@code YoVariable}s and use them to duplicate {@code this}.
* </p>
*
* @param newRegistry YoVariableRegistry to duplicate {@code this} to.
* @return the duplicate of {@code this}.
*/
public YoFrameQuaternion duplicate(YoVariableRegistry newRegistry)
{
 YoDouble x = (YoDouble) newRegistry.getVariable(getYoQx().getFullNameWithNameSpace());
 YoDouble y = (YoDouble) newRegistry.getVariable(getYoQy().getFullNameWithNameSpace());
 YoDouble z = (YoDouble) newRegistry.getVariable(getYoQz().getFullNameWithNameSpace());
 YoDouble s = (YoDouble) newRegistry.getVariable(getYoQs().getFullNameWithNameSpace());
 return new YoFrameQuaternion(x, y, z, s, getReferenceFrame());
}

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