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us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator类的使用及代码示例

转载 作者：知者 更新时间：2024-03-15 16:14:40 26 4
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本文整理了Java中us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator类的一些代码示例，展示了YoFunctionGenerator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。YoFunctionGenerator类的具体详情如下：
包路径：us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator
类名称：YoFunctionGenerator

YoFunctionGenerator介绍

[英]Title:

Description:

Copyright: Copyright (c) 2007

Company:
[中]标题：
描述：
版权所有：版权所有（c）2007
公司：

代码示例

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/IHMCRoboticsToolkit

public static void main(String[] args)
  {
   YoFunctionGenerator yoFunctionGenerator = new YoFunctionGenerator("test", null);

   YoFunctionGenerator.generateTestData(yoFunctionGenerator);
  }
}

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/ihmc-robotics-toolkit

public void setFrequencyWithContinuousOutput(double frequency)
{
 setPhase(getPhase() + TWO_PI * (getFrequency() - frequency) * timeInCurrentMode.getDoubleValue());
 setFrequency(frequency);
}

代码示例来源：origin: us.ihmc/acsell

public StepprFunctionGeneratorJointController()
{
 super();
 funcGen.setAmplitude(0);
 funcGen.setOffset(0);
 funcGen.setMode(YoFunctionGeneratorMode.OFF);
 funcGenJoint.set(StepprJoint.LEFT_KNEE_Y);
}

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

functionGenerator = new YoFunctionGenerator(imuName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());
functionGenerator.setFrequency(diagnosticParameters.getCheckUpOscillationPositionFrequency());
functionGenerator.setResetTime(checkUpDuration.getDoubleValue());
functionGenerator.setMode(YoFunctionGeneratorMode.SINE);

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

YoDouble yoTime = new YoDouble("time", registry);
YoFunctionGenerator functionGenerator = new YoFunctionGenerator("foo", yoTime, registry);
functionGenerator.setChirpFrequencyMaxHz(40.0);
functionGenerator.setAmplitude(1.0);
functionGenerator.setResetTime(numberOfTicks * dt);
functionGenerator.setMode(YoFunctionGeneratorMode.CHIRP_LINEAR);
  double sine = functionGenerator.getValue();
  referenceSignal.set(sine);
  delayedSignal.update();

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

selectedFunctionGenerator.setAmplitude(0.0);
selectedFunctionGenerator.setFrequency(0.0);
selectedFunctionGenerator.setOffset(0.0);
secondaryFunctionGenerator.setAmplitude(0.0);
secondaryFunctionGenerator.setFrequency(0.0);
secondaryFunctionGenerator.setOffset(0.0);
double previousAmplitude = selectedFunctionGenerator.getAmplitude();
double previousFrequency = selectedFunctionGenerator.getFrequency();
double previousOffset = selectedFunctionGenerator.getOffset();
double previousPhase = selectedFunctionGenerator.getPhase();
selectedFunctionGenerator.setAmplitude(secondaryFunctionGenerator.getAmplitude());
selectedFunctionGenerator.setFrequency(secondaryFunctionGenerator.getFrequency());
selectedFunctionGenerator.setOffset(secondaryFunctionGenerator.getOffset());
selectedFunctionGenerator.setPhase(secondaryFunctionGenerator.getPhase());
secondaryFunctionGenerator.setAmplitude(previousAmplitude);
secondaryFunctionGenerator.setFrequency(previousFrequency);
secondaryFunctionGenerator.setOffset(previousOffset);
secondaryFunctionGenerator.setPhase(previousPhase);

代码示例来源：origin: us.ihmc/valkyrie

kdSelected.set(KD_DEFAULT);
selectedFunctionGenerator = new YoFunctionGenerator("Selected", yoTime, registry, false, dt);
selectedFunctionGenerator.setMode(YoFunctionGeneratorMode.SINE);
selectedFunctionGenerator.setAmplitude(0.0);
selectedFunctionGenerator.setFrequency(0.0);
selectedFunctionGenerator.setOffset(0.0);
secondaryFunctionGenerator = new YoFunctionGenerator("Secondary", yoTime, registry, false, dt);
secondaryFunctionGenerator.setMode(YoFunctionGeneratorMode.SINE);
secondaryFunctionGenerator.setAmplitude(0.0);
secondaryFunctionGenerator.setFrequency(0.0);
secondaryFunctionGenerator.setOffset(0.0);

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/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/ihmc-robotics-toolkit-test

@Before
public void setUp() throws Exception
{
  YoVariableRegistry registry = new YoVariableRegistry("testRegistry");
  yoFunctionGenerator = new YoFunctionGenerator("test", registry);
}

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

functionGenerator = new YoFunctionGenerator(imuName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());
functionGenerator.setFrequency(diagnosticParameters.getCheckUpOscillationPositionFrequency());
functionGenerator.setResetTime(checkUpDuration.getDoubleValue());
functionGenerator.setMode(YoFunctionGeneratorMode.SINE);

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

YoDouble yoTime = new YoDouble("time", registry);
YoFunctionGenerator functionGenerator = new YoFunctionGenerator("foo", yoTime, registry);
functionGenerator.setChirpFrequencyMaxHz(40.0);
functionGenerator.setAmplitude(1.0);
functionGenerator.setResetTime(numberOfTicks * dt);
functionGenerator.setMode(YoFunctionGeneratorMode.CHIRP_LINEAR);
  double sine = functionGenerator.getValue();
  referenceSignal.set(sine);
  delayedSignal.update();

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

public void setFrequencyWithContinuousOutput(double frequency)
{
 setPhase(getPhase() + TWO_PI * (getFrequency() - frequency) * timeInCurrentMode.getDoubleValue());
 setFrequency(frequency);
}

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/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-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/IHMCWholeBodyController

functionGenerator = new YoFunctionGenerator(jointName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());
functionGenerator.setFrequency(diagnosticParameters.getCheckUpOscillationPositionFrequency());
functionGenerator.setResetTime(checkUpDuration.getDoubleValue());
functionGenerator.setMode(YoFunctionGeneratorMode.SINE);

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