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us.ihmc.robotics.math.frames.YoFramePoint.getXYPlaneDistance()方法的使用及代码示例

转载 作者:知者 更新时间:2024-03-15 23:50:40 28 4
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本文整理了Java中us.ihmc.robotics.math.frames.YoFramePoint.getXYPlaneDistance()方法的一些代码示例,展示了YoFramePoint.getXYPlaneDistance()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。YoFramePoint.getXYPlaneDistance()方法的具体详情如下:
包路径:us.ihmc.robotics.math.frames.YoFramePoint
类名称:YoFramePoint
方法名:getXYPlaneDistance

YoFramePoint.getXYPlaneDistance介绍

暂无

代码示例

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

public double getXYPlaneDistance(YoFramePoint2d yoFramePoint2d)
{
 return getXYPlaneDistance(yoFramePoint2d.getFrameTuple2d());
}

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

public double getXYPlaneDistance(YoFramePoint yoFramePoint)
{
 return getXYPlaneDistance(yoFramePoint.getFrameTuple());
}

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

private double estimateDeltaTimeBetweenDesiredICPAndActualICP(double time, FramePoint2d actualCapturePointPosition)
{
 computeDesiredCapturePoint(computeAndReturnTimeInCurrentState(time));
 computeDesiredCentroidalMomentumPivot();
 desiredCapturePointPosition.getFrameTuple2dIncludingFrame(desiredICP2d);
 singleSupportFinalICP.getFrameTuple2dIncludingFrame(finalICP2d);
 if (desiredICP2d.distance(finalICP2d) < 1.0e-10)
   return Double.NaN;
 desiredICPToFinalICPLineSegment.set(desiredICP2d, finalICP2d);
 actualICP2d.setIncludingFrame(actualCapturePointPosition);
 double percentAlongLineSegmentICP = desiredICPToFinalICPLineSegment.percentageAlongLineSegment(actualICP2d);
 if (percentAlongLineSegmentICP < 0.0)
 {
   desiredICPToFinalICPLine.set(desiredICP2d, finalICP2d);
   desiredICPToFinalICPLine.orthogonalProjection(actualICP2d);
 }
 else
 {
   desiredICPToFinalICPLineSegment.orthogonalProjection(actualICP2d);
 }
 double actualDistanceDueToDisturbance = desiredCentroidalMomentumPivotPosition.getXYPlaneDistance(actualICP2d);
 double expectedDistanceAccordingToPlan = desiredCentroidalMomentumPivotPosition.getXYPlaneDistance(desiredCapturePointPosition);
 computeTimeInCurrentState(time);
 double distanceRatio = actualDistanceDueToDisturbance / expectedDistanceAccordingToPlan;
 if (distanceRatio < 1.0e-3)
   return 0.0;
 else
   return Math.log(distanceRatio) / omega0.getDoubleValue();
}

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

double distanceFromDesiredICPToMidfeetZUpFrame = desiredCapturePointPosition.getXYPlaneDistance(tempICP);
tempICP.setToZero(transferFromSoleFrame);
tempICP.changeFrame(worldFrame);
double distanceFromDesiredICPToTransferFromSoleFrame = desiredCapturePointPosition.getXYPlaneDistance(tempICP);

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