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

YoFrameQuaternion介绍

[英]FixedFrameQuaternionBasics implementation which components x, y, z, s are baked with YoDoubles.
[中]FixedFrameQuaternionBasics实现，其中x、y、z、s的组件是用Yodouble烘焙的。

代码示例

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

public YoQuaternionProvider(String namePrefix, ReferenceFrame referenceFrame, YoVariableRegistry registry)
{
 orientation = new YoFrameQuaternion(namePrefix + "Orientation", referenceFrame, registry);
}

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

@Override
public boolean containsNaN()
{
 return super.containsNaN();
}

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

@Override
public void setOrientation(QuaternionReadOnly orientation)
{
 this.orientation.set(orientation);
}

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

private void updateInitialOrientation()
{
 initialOrientationProvider.getOrientation(tempInitialOrientation);      
 tempInitialOrientation.changeFrame(initialOrientation.getReferenceFrame());
 initialOrientation.set(tempInitialOrientation);
 initialOrientation.checkIfUnitary();
}

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

/**
* 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());
}

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

YoFrameQuaternion yoFrameQuaternion = new YoFrameQuaternion("test", worldFrame, registry);
yoFrameQuaternion.set(quat4dExpected);
Quaternion quat4dActual = new Quaternion(yoFrameQuaternion);
assertTrue(RotationTools.quaternionEpsilonEquals(quat4dExpected, quat4dActual, EPS));
yoFrameQuaternion.set(axisAngle4dExpected);
AxisAngle axisAngle4dActual = new AxisAngle(yoFrameQuaternion);
assertTrue(RotationTools.axisAngleEpsilonEqualsIgnoreFlippedAxes(axisAngle4dExpected, axisAngle4dActual, EPS));
yoFrameQuaternion.set(matrix3dExpected);
matrix3dActual.set(yoFrameQuaternion);
assertTrue(matrix3dActual.epsilonEquals(matrix3dExpected, EPS));
yoFrameQuaternion.set(frameOrientationExpected);
FrameQuaternion frameOrientationActual = new FrameQuaternion(yoFrameQuaternion);
assertTrue(frameOrientationActual.epsilonEquals(frameOrientationExpected, EPS));
yoFrameQuaternion.setYawPitchRoll(yawPitchRollExpected[0], yawPitchRollExpected[1], yawPitchRollExpected[2]);
double[] yawPitchRollActual = new double[3];
yoFrameQuaternion.getYawPitchRoll(yawPitchRollActual);

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

Random random = new Random(3454);
ReferenceFrame sensorFrame = EuclidFrameRandomTools.nextReferenceFrame(random);
YoFrameQuaternion actualOrientation = new YoFrameQuaternion("q_act_", sensorFrame, registry);
mahonyFilter.setInputs(inputAngularVelocity, inputLinearAcceleration, inputMagneticVector);
mahonyFilter.setGains(0.5, 0.0);
mahonyFilter.getEstimatedOrientation().set(EuclidCoreRandomTools.nextQuaternion(random));
actualOrientation.set(EuclidCoreRandomTools.nextQuaternion(random));
Vector3D zUp = new Vector3D(0.0, 0.0, 1.0);
actualOrientation.inverseTransform(zUp);
inputLinearAcceleration.set(zUp);
inputLinearAcceleration.scale(20.0);
actualOrientation.inverseTransform(xForward);
inputMagneticVector.set(xForward);
inputMagneticVector.scale(0.5);
double currentError = actualOrientation.distance(mahonyFilter.getEstimatedOrientation());

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout=300000)
  public void testInterpolate()
  {
   Random random = new Random(1776L);

   YoVariableRegistry registry = new YoVariableRegistry("blop");

   FrameQuaternion initialFrameOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame);
   FrameQuaternion finalFrameOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame);
   FrameQuaternion interpolatedFrameOrientation = new FrameQuaternion(worldFrame);

   YoFrameQuaternion initialYoFrameQuaternion = new YoFrameQuaternion("init", worldFrame, registry);
   initialYoFrameQuaternion.set(initialFrameOrientation);
   YoFrameQuaternion finalYoFrameQuaternion = new YoFrameQuaternion("final", worldFrame, registry);
   finalYoFrameQuaternion.set(finalFrameOrientation);
   YoFrameQuaternion interpolatedYoFrameQuaternion = new YoFrameQuaternion("interpolated", worldFrame, registry);

   FrameQuaternion temp = new FrameQuaternion();
   for (double alpha = -0.1; alpha <= 1.1; alpha += 0.05)
   {
     interpolatedFrameOrientation.interpolate(initialFrameOrientation, finalFrameOrientation, alpha);
     interpolatedYoFrameQuaternion.interpolate(initialYoFrameQuaternion, finalYoFrameQuaternion, alpha);
     temp.setIncludingFrame(interpolatedYoFrameQuaternion);

     assertTrue(interpolatedFrameOrientation.epsilonEquals(temp, EPS));
   }
  }
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testMultiplication()
{
 Random random = new Random(1776L);
 YoVariableRegistry registry = new YoVariableRegistry("blop");
 YoFrameQuaternion yoFrameQuaternion = new YoFrameQuaternion("test", worldFrame, registry);
 Quaternion quat4dActual = new Quaternion(), quat4dExpected = new Quaternion();
 Quaternion quat4dA, quat4dB;
 FrameQuaternion frameOrientation = new FrameQuaternion(worldFrame);
 for (int i = 0; i < 1000; i++)
 {
   quat4dA = RandomGeometry.nextQuaternion(random);
   quat4dB = RandomGeometry.nextQuaternion(random);
   quat4dExpected.multiply(quat4dA, quat4dB);
   yoFrameQuaternion.set(quat4dA);
   yoFrameQuaternion.multiply(quat4dB);
   quat4dActual.set(yoFrameQuaternion);
   assertTrue(RotationTools.quaternionEpsilonEquals(quat4dExpected, quat4dActual, EPS));
   yoFrameQuaternion.set(quat4dA);
   frameOrientation.set(quat4dB);
   yoFrameQuaternion.multiply(frameOrientation);
   quat4dActual.set(yoFrameQuaternion);
   assertTrue(RotationTools.quaternionEpsilonEquals(quat4dExpected, quat4dActual, EPS));
 }
}

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

YoFrameQuaternion quaternionForVerification = new YoFrameQuaternion("quaternionForVerification", worldFrame, registry);
YoFrameVector3D angularVelocityForVerification = new YoFrameVector3D("angularVelocityForVerification", worldFrame, registry);
assertTrue(quaternionForVerification.epsilonEquals(orientation, 1e-10));
assertTrue(angularVelocityForVerification.epsilonEquals(angularVelocity, 1e-10));
quaternionForVerification.setYawPitchRoll(0.2, 0.6, 1.1);
angularVelocityForVerification.set(7.1, 2.2, 3.33);
assertFalse(quaternionForVerification.epsilonEquals(orientation, 1e-7));
assertFalse(angularVelocityForVerification.epsilonEquals(angularVelocity, 1e-7));
assertTrue(quaternionForVerification.epsilonEquals(orientation, 1e-10));
assertTrue(angularVelocityForVerification.epsilonEquals(angularVelocity, 1e-10));

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

YoFrameQuaternion yoFrameQuaternion = new YoFrameQuaternion("test", worldFrame, registry);
try
  yoFrameQuaternion.set(frameOrientation);
try
  yoFrameQuaternion.set(frameOrientation);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testInitialization()
{
 YoVariableRegistry registry = new YoVariableRegistry("blop");
 YoFrameQuaternion yoFrameQuaternion = new YoFrameQuaternion("test", worldFrame, registry);
 yoFrameQuaternion.checkReferenceFrameMatch(worldFrame);
 Quaternion quat4dActual = new Quaternion(yoFrameQuaternion);
 Quaternion quat4dExpected = new Quaternion(0.0, 0.0, 0.0, 1.0);
 assertTrue(quat4dActual.epsilonEquals(quat4dExpected, EPS));
 AxisAngle axisAngle4dActual = new AxisAngle(yoFrameQuaternion);
 AxisAngle axisAngle4dExpected = new AxisAngle(1.0, 0.0, 0.0, 0.0);
 assertTrue(axisAngle4dActual.epsilonEquals(axisAngle4dExpected, EPS));
 RotationMatrix matrix3dActual = new RotationMatrix(yoFrameQuaternion);
 RotationMatrix matrix3dExpected = new RotationMatrix();
 matrix3dExpected.setIdentity();
 assertTrue(matrix3dActual.epsilonEquals(matrix3dExpected, EPS));
 FrameQuaternion frameOrientationActual = new FrameQuaternion(yoFrameQuaternion);
 FrameQuaternion frameOrientationExpected = new FrameQuaternion(worldFrame);
 assertTrue(frameOrientationActual.epsilonEquals(frameOrientationExpected, EPS));
 double[] yawPitchRollActual = new double[3];
 yoFrameQuaternion.getYawPitchRoll(yawPitchRollActual);
 double[] yawPitchRollExpected = new double[3];
 assertArrayEquals(yawPitchRollExpected, yawPitchRollActual, EPS);
}

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

public void setInitialOrientation(FrameQuaternionReadOnly initialOrientation)
{
 this.initialOrientation.setMatchingFrame(initialOrientation);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

FrameQuaternion chestOrientation = new FrameQuaternion(chestClone.getBodyFixedFrame());
 chestOrientation.changeFrame(ReferenceFrame.getWorldFrame());
 currentDesiredOrientation.set(chestOrientation);
 currentDesiredOrientation.set(desiredOrientation);
if (!currentDesiredOrientation.containsNaN() && !previousDesiredOrientation.containsNaN())
previousDesiredOrientation.set(currentDesiredOrientation);

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

public void initialize()
{
 time.set(0.0);
 FrameQuaternion orientationToPack = new FrameQuaternion(ReferenceFrame.getWorldFrame());
 orientationProvider.getOrientation(orientationToPack);
 orientationToPack.changeFrame(orientation.getReferenceFrame());
 orientation.set(orientationToPack);
}

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

public AlphaFilteredYoFrameQuaternion(String namePrefix, String nameSuffix, YoFrameQuaternion unfilteredQuaternion, DoubleProvider alpha,
   YoVariableRegistry registry)
{
 this(namePrefix, nameSuffix, unfilteredQuaternion, alpha, unfilteredQuaternion.getReferenceFrame(), registry);
}

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

@Override
public void setOrientationToNaN()
{
 orientation.setToNaN();
}

代码示例来源：origin: us.ihmc/ihmc-graphics-description

public void setYawPitchRoll(double yaw, double pitch, double roll)
{
 if (isUsingYawPitchRoll())
   yoFrameYawPitchRoll.setYawPitchRoll(yaw, pitch, roll);
 else
   yoFrameQuaternion.setYawPitchRoll(yaw, pitch, roll);
}

代码示例来源：origin: us.ihmc/ihmc-graphics-description

protected YoGraphicAbstractShape(String name, YoFramePoint3D framePoint, YoFrameYawPitchRoll frameYawPitchRoll, YoFrameQuaternion frameQuaternion,
                double scale)
{
 super(name);
 framePoint.checkReferenceFrameMatch(worldFrame);
 if ((frameYawPitchRoll == null && frameQuaternion == null) || (frameYawPitchRoll != null && frameQuaternion != null))
   throw new IllegalArgumentException("Can only describe the orientation of this shape with either yaw-pitch-roll or quaternion.");
 if (frameYawPitchRoll != null)
   frameYawPitchRoll.checkReferenceFrameMatch(worldFrame);
 if (frameQuaternion != null)
   frameQuaternion.checkReferenceFrameMatch(worldFrame);
 yoFramePoint = framePoint;
 yoFrameYawPitchRoll = frameYawPitchRoll;
 yoFrameQuaternion = frameQuaternion;
 this.scale = scale;
}

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

Random random = new Random(3454);
ReferenceFrame sensorFrame = EuclidFrameRandomTools.nextReferenceFrame(random);
YoFrameQuaternion actualOrientation = new YoFrameQuaternion("q_act_", sensorFrame, registry);
actualOrientation.set(EuclidCoreRandomTools.nextQuaternion(random));
Vector3D zUp = new Vector3D(0.0, 0.0, 1.0);
actualOrientation.inverseTransform(zUp);
inputLinearAcceleration.set(zUp);
inputLinearAcceleration.scale(20.0);
actualOrientation.inverseTransform(xForward);
inputMagneticVector.set(xForward);
inputMagneticVector.scale(0.5);
  currentError = actualOrientation.distance(mahonyFilter.getEstimatedOrientation());
  assertTrue(currentError <= previousError);
  previousError = currentError;