本文整理了Java中us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator.getValue()方法的一些代码示例，展示了YoFunctionGenerator.getValue()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。YoFunctionGenerator.getValue()方法的具体详情如下：
包路径：us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator
类名称：YoFunctionGenerator
方法名：getValue

YoFunctionGenerator.getValue介绍

暂无

代码示例

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

public double getValue()
{
 if (time == null)
 {
   throw new RuntimeException(
      "Function Generator wasn't created with a time YoVariable. Need to create with a time variable or call getValue(double time) instead");
 }
 return getValue(time.getDoubleValue());
}

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

private void updateDesiredJointOffsets()
{
 for (Direction direction : Direction.values)
 {
   double positionOffset = ramps.get(direction).getDoubleValue() * functionGenerator.getValue(getTimeInCurrentTask());
   double velocityOffset = ramps.get(direction).getDoubleValue() * functionGenerator.getValueDot();
      desiredJointPositionOffsets.get(direction).set(positionOffset);
   desiredJointVelocityOffsets.get(direction).set(velocityOffset);
 }
}

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

public double getValue()
{
 if (time == null)
 {
   throw new RuntimeException(
      "Function Generator wasn't created with a time YoVariable. Need to create with a time variable or call getValue(double time) instead");
 }
 return getValue(time.getDoubleValue());
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

private void updateDesiredJointOffsets()
{
 for (Axis axis : Axis.values)
 {
   double positionOffset = ramps.get(axis).getDoubleValue() * functionGenerator.getValue(getTimeInCurrentTask());
   double velocityOffset = ramps.get(axis).getDoubleValue() * functionGenerator.getValueDot();
      desiredJointPositionOffsets.get(axis).set(positionOffset);
   desiredJointVelocityOffsets.get(axis).set(velocityOffset);
 }
}

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

public static void generateTestData(YoFunctionGenerator yoFunctionGenerator)
{
 System.out.println("starting generateTestData()");
 yoFunctionGenerator.setMode(YoFunctionGeneratorMode.CHIRP_EXPONENTIAL);
 double sweepFreqHigh = 50.0;
 double sweepTime = 20.0;
 yoFunctionGenerator.setChirpFrequencyMaxHz(sweepFreqHigh);
 yoFunctionGenerator.setResetTime(sweepTime);
 yoFunctionGenerator.setAmplitude(1.0);
 double deltaTime = 0.01;
 ArrayList<Double> timeArray = new ArrayList<Double>();
 ArrayList<Double> valueArray = new ArrayList<Double>();
 for (double time = 0.0; time < 1.03 * sweepTime; time = time + deltaTime)
 {
   timeArray.add(time);
   valueArray.add(yoFunctionGenerator.getValue(time));
 }
 for (int i = 0; i < timeArray.size(); i++)
 {
   System.out.println(timeArray.get(i) + ", " + valueArray.get(i));
 }
 System.out.println("KRateForExponentialChirp=" + yoFunctionGenerator.getKRateForExponentialChirp());
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testTriangle()
{
 yoFunctionGenerator.setMode(YoFunctionGeneratorMode.TRIANGLE);
 double amplitude = 1.0;
 double dt = 0.01;
 double value, previousValue, velocityAbs, expectedVelocityAbs, singleRampTime, computedVelocityAbs;
 double frequency = 1;
 
 yoFunctionGenerator.setAmplitude(amplitude);
 yoFunctionGenerator.setFrequency(frequency);
 
 singleRampTime = (1/frequency)/2;
 
 expectedVelocityAbs = Math.abs(2*amplitude / singleRampTime);
 previousValue = value = yoFunctionGenerator.getValue(dt);
 for (double time = 2* dt; time < singleRampTime-dt; time += dt)
 {
   value = yoFunctionGenerator.getValue(time);
   velocityAbs = Math.abs((value - previousValue) / dt);
   assertEquals(expectedVelocityAbs, velocityAbs, 1e-10);
      computedVelocityAbs = Math.abs(yoFunctionGenerator.getValueDot());
   assertEquals(expectedVelocityAbs, computedVelocityAbs, 1e-10);
   previousValue = value;
 }
}

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

public static void generateTestData(YoFunctionGenerator yoFunctionGenerator)
{
 System.out.println("starting generateTestData()");
 yoFunctionGenerator.setMode(YoFunctionGeneratorMode.CHIRP_EXPONENTIAL);
 double sweepFreqHigh = 50.0;
 double sweepTime = 20.0;
 yoFunctionGenerator.setChirpFrequencyMaxHz(sweepFreqHigh);
 yoFunctionGenerator.setResetTime(sweepTime);
 yoFunctionGenerator.setAmplitude(1.0);
 double deltaTime = 0.01;
 ArrayList<Double> timeArray = new ArrayList<Double>();
 ArrayList<Double> valueArray = new ArrayList<Double>();
 for (double time = 0.0; time < 1.03 * sweepTime; time = time + deltaTime)
 {
   timeArray.add(time);
   valueArray.add(yoFunctionGenerator.getValue(time));
 }
 for (int i = 0; i < timeArray.size(); i++)
 {
   System.out.println(timeArray.get(i) + ", " + valueArray.get(i));
 }
 System.out.println("KRateForExponentialChirp=" + yoFunctionGenerator.getKRateForExponentialChirp());
}

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

double positionOffset = ramp.getDoubleValue() * functionGenerator.getValue(getTimeInCurrentTask());
double velocityOffset = ramp.getDoubleValue() * functionGenerator.getValueDot();

代码示例来源：origin: us.ihmc/acsell

@Override
public void doControl(long timestamp)
{
 super.doControl(timestamp);
 
 //add additional tau
 for(int i = 0; i < joints.size(); i++)
 {
   OneDoFJoint joint = joints.get(i);
   if(joint.getName().equals(funcGenJoint.getEnumValue().getSdfName()))
   {
    joint.setTau(funcGen.getValue(Conversions.nanosecondsToSeconds(timestamp))+joint.getTau());
   }
 } 
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testZeroFrequencyDC()
{
  yoFunctionGenerator.setMode(YoFunctionGeneratorMode.DC);
  double amplitude = 1.0;
  yoFunctionGenerator.setAmplitude(amplitude);
  yoFunctionGenerator.setFrequency(0.0);
  for(double time = 0.0; time< 10.0; time+=0.01)
  {
    assertEquals(amplitude, yoFunctionGenerator.getValue(time), 1e-10);
  }
}

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

output0 = yoFunctionGenerator.getValue(t0+2*dt);
yoFunctionGenerator.setFrequencyWithContinuousOutput(freq0*3);
output1 = yoFunctionGenerator.getValue(t0+3*dt);

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testZeroFrequencySine()
{
  yoFunctionGenerator.setMode(YoFunctionGeneratorMode.SINE);
  double amplitude = 1.0;
  yoFunctionGenerator.setAmplitude(amplitude);
  yoFunctionGenerator.setFrequency(0.0);
  yoFunctionGenerator.setPhase(Math.PI/2.0);
  for(double time = 0.0; time< 10.0; time+=0.01)
  {
   assertEquals(amplitude, yoFunctionGenerator.getValue(time), 1e-10);
  }
}

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

@Override
  public void doControl()
  {
   if (!hasBeenReset.getBooleanValue() && !mode.getEnumValue().equals(YoFunctionGeneratorMode.OFF) && yoFunctionGenerator.getMode().equals(YoFunctionGeneratorMode.OFF))
   {
     mode.set(YoFunctionGeneratorMode.OFF);
     hasBeenReset.set(true);
   }
   
   if (!yoFunctionGenerator.getMode().equals(YoFunctionGeneratorMode.OFF))
     hasBeenReset.set(false);
   
   yoFunctionGenerator.setMode(mode.getEnumValue());
   yoFunctionGenerator.setResetTime(resetTime.getDoubleValue());
   yoFunctionGenerator.setChirpFrequencyMaxHz(maxSweepFreq.getDoubleValue());
   yoFunctionGenerator.setAmplitude(amplitude.getDoubleValue());
   
   valueCheck.set(this.yoFunctionGenerator.getValue(time.getDoubleValue()));
   
   try
   {
     Thread.sleep(1);
   }
   catch (InterruptedException e)
   {
     e.printStackTrace();
   }
  }
}

代码示例来源：origin: us.ihmc/valkyrie

yoTime.set(Conversions.nanosecondsToSeconds(time - startTime));
tauFunctionSelected.set(selectedFunctionGenerator.getValue());
   secondary.jointCommand_function.set(secondaryFunctionGenerator.getValue());
  tauFunctionSecondary.set(secondary.jointCommand_function.getDoubleValue());

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

value = squareFunction.getValue();

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

value = sineFunction.getValue();

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

value = chirpFunction.getValue();

代码示例来源：origin: us.ihmc/ihmc-sensor-processing-test

double sine = functionGenerator.getValue();
referenceSignal.set(sine);
delayedSignal.update();

代码示例来源：origin: us.ihmc/ihmc-sensor-processing-test

double sine = functionGenerator.getValue();
referenceSignal.set(sine);
delayedSignal.update();

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

variable.set(functionGenerator.getValue(time.getDoubleValue()));