本文整理了Java中us.ihmc.yoVariables.variable.YoFrameQuaternion.<init>()方法的一些代码示例，展示了YoFrameQuaternion.<init>()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.<init>()方法的具体详情如下：
包路径：us.ihmc.yoVariables.variable.YoFrameQuaternion
类名称：YoFrameQuaternion
方法名：<init>

YoFrameQuaternion.<init>介绍

[英]Creates a new YoFrameQuaternion using the given YoVariables and sets its reference frame to referenceFrame.
[中]使用给定的YoFrameQuaternion变量创建新的YoFrameQuaternion，并将其参考帧设置为referenceFrame。

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

public YoSE3ConfigurationProvider(String name, ReferenceFrame frame, YoVariableRegistry registry)
{
 position = new YoFramePoint3D(name, frame, registry);
 orientation = new YoFrameQuaternion(name, frame, registry);
}

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

/**
* Creates a new {@code YoFramePose3D}.
*
* @param namePrefix a unique name string to use as the prefix for child variable names.
* @param nameSuffix a string to use as the suffix for child variable names.
* @param referenceFrame the reference frame for this pose.
* @param registry the registry to register child variables to.
*/
public YoFramePose3D(String namePrefix, String nameSuffix, ReferenceFrame referenceFrame, YoVariableRegistry registry)
{
 position = new YoFramePoint3D(namePrefix, nameSuffix, referenceFrame, registry);
 orientation = new YoFrameQuaternion(namePrefix, nameSuffix, referenceFrame, registry);
}

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

private FiniteDifferenceAngularVelocityYoFrameVector(String namePrefix, YoFrameQuaternion orientationToDifferentiate, ReferenceFrame referenceFrame, double dt, YoVariableRegistry registry)
{
 super(namePrefix, referenceFrame, registry);
 this.dt = dt;
 orientation = orientationToDifferentiate;
 orientationPreviousValue = new YoFrameQuaternion(namePrefix + "_previous", referenceFrame, registry);
 hasBeenCalled = new YoBoolean(namePrefix + "HasBeenCalled", registry);
 hasBeenCalled.set(false);
}

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

public YoGraphicPolygon(String name, YoFrameConvexPolygon2D convexPolygon2d, String namePrefix, String nameSuffix, YoVariableRegistry registry,
            boolean useYawPitchRoll, double scale, AppearanceDefinition appearance)
{
 this(name, convexPolygon2d, new YoFramePoint3D(namePrefix, nameSuffix, worldFrame, registry),
    useYawPitchRoll ? new YoFrameYawPitchRoll(namePrefix, nameSuffix, worldFrame, registry) : null,
    useYawPitchRoll ? null : new YoFrameQuaternion(namePrefix, nameSuffix, worldFrame, registry), scale, DEFAULT_HEIGHT, appearance);
}

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

public YoGraphicPolygon(String name, YoFrameConvexPolygon2D convexPolygon2d, YoVariableRegistry registry, boolean useYawPitchRoll, double scale,
            AppearanceDefinition appearance)
{
 this(name, convexPolygon2d, new YoFramePoint3D(name + "Position", worldFrame, registry),
    useYawPitchRoll ? new YoFrameYawPitchRoll(name + "Orientation", worldFrame, registry) : null,
    useYawPitchRoll ? null : new YoFrameQuaternion(name + "Orientation", worldFrame, registry), scale, DEFAULT_HEIGHT, appearance);
}

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

public YoGraphicCoordinateSystem(String namePrefix, String nameSuffix, YoVariableRegistry registry, boolean useYawPitchRoll, double scale,
                AppearanceDefinition arrowAppearance)
{
 this(namePrefix + nameSuffix, new YoFramePoint3D(namePrefix, nameSuffix, worldFrame, registry),
    useYawPitchRoll ? new YoFrameYawPitchRoll(namePrefix, nameSuffix, worldFrame, registry) : null,
    useYawPitchRoll ? null : new YoFrameQuaternion(namePrefix, nameSuffix, worldFrame, registry), scale, arrowAppearance);
}

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

private AlphaFilteredYoFrameQuaternion createAlphaFilteredYoFrameQuaternion(DoubleProvider alpha)
{
 YoVariableRegistry registry = new YoVariableRegistry("test");
 ReferenceFrame referenceFrame = ReferenceFrame.getWorldFrame();
 YoFrameQuaternion unfilteredQuaternion = new YoFrameQuaternion("qMeasured", referenceFrame, registry);
 AlphaFilteredYoFrameQuaternion q = new AlphaFilteredYoFrameQuaternion("qFiltered", "", unfilteredQuaternion, alpha, registry);
 return q;
}

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

public ConstantOrientationTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, OrientationProvider orientationProvider, double finalTime,
                       YoVariableRegistry parentRegistry)
{
 MathTools.checkIntervalContains(finalTime, 0.0, Double.POSITIVE_INFINITY);
 this.registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 this.orientationProvider = orientationProvider;
 this.orientation = new YoFrameQuaternion("orientation", referenceFrame, registry);
 this.finalTime = new YoDouble("finalTime", registry);
 this.time = new YoDouble("time", registry);
 this.finalTime.set(finalTime);
 parentRegistry.addChild(registry);
}

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

public OrientationInterpolationTrajectoryGenerator(String namePrefix, ReferenceFrame referenceFrame, DoubleProvider trajectoryTimeProvider,
                         OrientationProvider initialOrientationProvider, OrientationProvider finalOrientationProvider,
                         YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 this.trajectoryTime = new YoDouble(namePrefix + "TrajectoryTime", registry);
 this.currentTime = new YoDouble(namePrefix + "Time", registry);
 this.parameterPolynomial = new YoPolynomial(namePrefix + "ParameterPolynomial", 6, registry);
 
 this.initialOrientation = new YoFrameQuaternion(namePrefix + "InitialOrientation", referenceFrame, registry);
 this.finalOrientation = new YoFrameQuaternion(namePrefix + "FinalOrientation", referenceFrame, registry);
 this.continuouslyUpdateFinalOrientation = new YoBoolean(namePrefix + "ContinuouslyUpdate", registry);
 
 this.desiredOrientation = new YoFrameQuaternion(namePrefix + "desiredOrientation", referenceFrame, registry);
 this.desiredAngularVelocity = new YoFrameVector3D(namePrefix + "desiredAngularVelocity", referenceFrame, registry);
 this.desiredAngularAcceleration = new YoFrameVector3D(namePrefix + "desiredAngularAcceleration", referenceFrame, registry);
 this.trajectoryTimeProvider = trajectoryTimeProvider;
 this.initialOrientationProvider = initialOrientationProvider;
 this.finalOrientationProvider = finalOrientationProvider;
 tempInitialOrientation = new FrameQuaternion(referenceFrame);
 tempFinalOrientation = new FrameQuaternion(referenceFrame);
 parentRegistry.addChild(registry);
}

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-avatar-interfaces-test

private static YoFrameQuaternion findOrientationDesired(SimulationConstructionSet scs, RigidBodyBasics body)
{
 String bodyName = body.getName();
 String namespace = "FeedbackControllerToolbox";
 YoDouble qx = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQx", namespace);
 YoDouble qy = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQy", namespace);
 YoDouble qz = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQz", namespace);
 YoDouble qs = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQs", namespace);
 return new YoFrameQuaternion(qx, qy, qz, qs, ReferenceFrame.getWorldFrame());
}

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

public YoFrameQuaternion findYoFrameQuaternion(String quaternionPrefix, String quaternionSuffix, ReferenceFrame quaternionFrame)
  {
   YoDouble qx = (YoDouble) scs.getVariable(createQxName(quaternionPrefix, quaternionSuffix));
   YoDouble qy = (YoDouble) scs.getVariable(createQyName(quaternionPrefix, quaternionSuffix));
   YoDouble qz = (YoDouble) scs.getVariable(createQzName(quaternionPrefix, quaternionSuffix));
   YoDouble qs = (YoDouble) scs.getVariable(createQsName(quaternionPrefix, quaternionSuffix));

   if (qx == null || qy == null || qz == null || qs == null)
     return null;
   else
     return new YoFrameQuaternion(qx, qy, qz, qs, quaternionFrame);
  }
}

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

@Before
public void setUp()
{
 RigidBodyTransform transformToParent = new RigidBodyTransform();
 //      referenceFrame = ReferenceFrame.constructARootFrame("rootFrame");
 referenceFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("referenceFrame", rootFrame1, transformToParent);
 positionYoFramePoint = new YoFramePoint3D("prefixTEST", referenceFrame, registry);
 orientationQuaternion = new YoFrameQuaternion("orientationPrefix", referenceFrame, registry);
 frame2 = ReferenceFrame.constructFrameWithUnchangingTransformToParent("frame2", rootFrame1, transformToParent);
 positionMultipleFrames = new YoFramePointInMultipleFrames("positionMultipleFrames", registry, rootFrame1, frame2);
 orientationMultipleFrames = new YoFrameQuaternionInMultipleFrames("orientationMultipleFrames", registry, rootFrame1, frame2);
 generator = new ConstantPoseTrajectoryGenerator(positionYoFramePoint, orientationQuaternion);
}

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

public YoIMUMahonyFilter(String imuName, String namePrefix, String nameSuffix, double updateDT, ReferenceFrame sensorFrame,
            YoVariableRegistry parentRegistry)
{
 this.updateDT = updateDT;
 this.sensorFrame = sensorFrame;
 YoVariableRegistry registry = new YoVariableRegistry(imuName + "MahonyFilter");
 parentRegistry.addChild(registry);
 estimatedOrientation = new YoFrameQuaternion(namePrefix, nameSuffix, sensorFrame, registry);
 estimatedAngularVelocity = new YoFrameVector3D(namePrefix, nameSuffix, sensorFrame, registry);
 yoErrorTerm = new YoFrameVector3D("ErrorTerm", nameSuffix, sensorFrame, registry);
 yoIntegralTerm = new YoFrameVector3D("IntegralTerm", nameSuffix, sensorFrame, registry);
 proportionalGain = new YoDouble("ProportionalGain" + nameSuffix, registry);
 integralGain = new YoDouble("IntegralGain" + nameSuffix, registry);
 hasBeenInitialized = new YoBoolean("HasBeenInitialized" + nameSuffix, registry);
}

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

YoFrameQuaternion yoFrameQuaternion = new YoFrameQuaternion("test", worldFrame, registry);

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-avatar-interfaces-test

private static YoFramePose3D findYoFramePose3D(String nameSpace, String namePrefix, String nameSuffix, SimulationConstructionSet scs)
{
 YoDouble x = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createXName(namePrefix, nameSuffix));
 YoDouble y = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createYName(namePrefix, nameSuffix));
 YoDouble z = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createZName(namePrefix, nameSuffix));
 YoFramePoint3D position = new YoFramePoint3D(x, y, z, ReferenceFrame.getWorldFrame());
 YoDouble qx = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQxName(namePrefix, nameSuffix));
 YoDouble qy = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQyName(namePrefix, nameSuffix));
 YoDouble qz = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQzName(namePrefix, nameSuffix));
 YoDouble qs = (YoDouble) scs.getVariable(nameSpace, YoFrameVariableNameTools.createQsName(namePrefix, nameSuffix));
 YoFrameQuaternion orientation = new YoFrameQuaternion(qx, qy, qz, qs, ReferenceFrame.getWorldFrame());
 return new YoFramePose3D(position, orientation);
}

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

@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);
}