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本文整理了Java中us.ihmc.robotics.math.frames.YoFrameVector.scale()方法的一些代码示例，展示了YoFrameVector.scale()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。YoFrameVector.scale()方法的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFrameVector
类名称：YoFrameVector
方法名：scale
暂无
代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
public void scaleAngularPart(double scaleFactor)
{
angularPart.scale(scaleFactor);
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
public void scaleLinearPart(double scaleFactor)
{
linearPart.scale(scaleFactor);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
public void setWeight(double weight)
{
yoAngularWeight.set(1.0, 1.0, 1.0);
yoAngularWeight.scale(weight);
yoLinearWeight.set(1.0, 1.0, 1.0);
yoLinearWeight.scale(weight);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
public void setWeight(double weight)
{
angularWeight.set(1.0, 1.0, 1.0);
angularWeight.scale(weight);
linearWeight.set(1.0, 1.0, 1.0);
linearWeight.scale(weight);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
public void setDesiredTorqueOfHandOntoExternalEnvironment(Vector3d desiredTorque)
{
if (desiredTorque == null)
{
this.desiredTorque.setToZero();
}
else
{
this.desiredTorque.set(desiredTorque);
this.desiredTorque.scale(-1.0);
}
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
public void setDesiredForceOfHandOntoExternalEnvironment(Vector3d desiredForce)
{
if (desiredForce == null)
{
this.desiredForce.setToZero();
}
else
{
this.desiredForce.set(desiredForce);
this.desiredForce.scale(-1.0);
}
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
/**
* Compute the desired capture point acceleration given the desired capture
* point velocity
*
* @param omega0 the natural frequency ω = √<span style="text-decoration:overline;"> g / z0 </span> of the biped.
* @param desiredCapturePointVelocity
* @param desiredCapturePointAccelerationToPack
*/
public static void computeDesiredCapturePointAcceleration(double omega0, YoFrameVector desiredCapturePointVelocity,
YoFrameVector desiredCapturePointAccelerationToPack)
{
desiredCapturePointAccelerationToPack.setAndMatchFrame(desiredCapturePointVelocity.getFrameTuple());
desiredCapturePointAccelerationToPack.scale(omega0);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
public void progressivelyCancelOutCorrection(FramePoint desiredPosition, FrameOrientation desiredOrientation)
{
yoCompliantControlLinearDisplacement.scale(compliantControlResetLeakRatio.getDoubleValue());
yoCompliantControlAngularDisplacement.scale(compliantControlResetLeakRatio.getDoubleValue());
yoCompliantControlLinearDisplacement.getFrameTupleIncludingFrame(totalLinearCorrection);
yoCompliantControlAngularDisplacement.getFrameTupleIncludingFrame(totalAngularCorrection);
totalLinearCorrection.changeFrame(controlFrame);
totalAngularCorrection.changeFrame(controlFrame);
applyCorrection(desiredPosition, desiredOrientation);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
private void decayDesiredVelocityIfNeeded(double timeInCurrentState)
{
if (velocityDecayDurationWhenDone.isNaN() || isStanding.getBooleanValue())
{
velocityReductionFactor.set(Double.NaN);
return;
}
double hasBeenDoneForDuration = timeInCurrentState;
if (isDoubleSupport.getBooleanValue())
hasBeenDoneForDuration -= transferTimes.get(0).getDoubleValue();
else
hasBeenDoneForDuration -= swingTimes.get(0).getDoubleValue();
if (hasBeenDoneForDuration <= 0.0)
{
velocityReductionFactor.set(Double.NaN);
}
else
{
velocityReductionFactor.set(MathTools.clipToMinMax(1.0 - hasBeenDoneForDuration / velocityDecayDurationWhenDone.getDoubleValue(), 0.0, 1.0));
desiredCapturePointVelocity.scale(velocityReductionFactor.getDoubleValue());
}
}代码示例来源：origin: us.ihmc/SensorProcessing
private void updateAngularVelocity()
{
firstIMU.getAngularVelocityMeasurement(firstVector);
secondIMU.getAngularVelocityMeasurement(secondVector);
firstFrameVector.setIncludingFrame(firstIMU.getMeasurementFrame(), firstVector);
secondFrameVector.setIncludingFrame(secondIMU.getMeasurementFrame(), secondVector);
firstFrameVector.changeFrame(fusedMeasurementFrame);
secondFrameVector.changeFrame(fusedMeasurementFrame);
angularVelocity.add(firstFrameVector, secondFrameVector);
angularVelocity.scale(0.5);
}代码示例来源：origin: us.ihmc/SensorProcessing
private void updateLinearAcceleration()
{
firstIMU.getLinearAccelerationMeasurement(firstVector);
secondIMU.getLinearAccelerationMeasurement(secondVector);
firstFrameVector.setIncludingFrame(firstIMU.getMeasurementFrame(), firstVector);
secondFrameVector.setIncludingFrame(secondIMU.getMeasurementFrame(), secondVector);
firstFrameVector.changeFrame(fusedMeasurementFrame);
secondFrameVector.changeFrame(fusedMeasurementFrame);
linearAcceleration.add(firstFrameVector, secondFrameVector);
linearAcceleration.scale(0.5);
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
@Override
public void compute(double time)
{
if (continuouslyUpdateFinalPosition.getBooleanValue())
{
updateFinalPosition();
}
this.currentTime.set(time);
time = MathTools.clipToMinMax(time, 0.0, trajectoryTime.getDoubleValue());
parameterPolynomial.compute(time);
differenceVector.sub(finalPosition, initialPosition);
double parameter = isDone() ? 1.0 : parameterPolynomial.getPosition();
double parameterd = isDone() ? 0.0 : parameterPolynomial.getVelocity();
double parameterdd = isDone() ? 0.0 : parameterPolynomial.getAcceleration();
currentPosition.interpolate(initialPosition, finalPosition, parameter);
currentVelocity.set(differenceVector);
currentVelocity.scale(parameterd);
currentAcceleration.set(differenceVector);
currentAcceleration.scale(parameterdd);
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
private void updateOrientationVisualization()
{
desiredSpatialAcceleration.getAngularPart(desiredAngularAcceleration);
yoDesiredAngularAcceleration.setAndMatchFrame(desiredAngularAcceleration);
tempOrientation.setToZero(accelerationControlModule.getTrackingFrame());
yoCurrentOrientation.setAndMatchFrame(tempOrientation);
accelerationControlModule.getEndEffectorCurrentAngularVelocity(tempAngularVelocity);
yoCurrentAngularVelocity.setAndMatchFrame(tempAngularVelocity);
yoDesiredOrientation.get(tempAxisAngle);
yoDesiredRotationVector.set(tempAxisAngle.getX(), tempAxisAngle.getY(), tempAxisAngle.getZ());
yoDesiredRotationVector.scale(tempAxisAngle.getAngle());
yoCurrentOrientation.get(tempAxisAngle);
yoCurrentRotationVector.set(tempAxisAngle.getX(), tempAxisAngle.getY(), tempAxisAngle.getZ());
yoCurrentRotationVector.scale(tempAxisAngle.getAngle());
}代码示例来源：origin: us.ihmc/IHMCSimulationToolkit
private void applyForce()
{
double length = pushDirection.length();
if (length > 1e-5)
{
pushForce.set(pushDirection);
pushForce.normalize();
pushForce.scale(pushForceMagnitude.getDoubleValue());
if(pushCondition == null)
{
pushTimeSwitch.set(yoTime.getDoubleValue());
}
}
else
{
pushForce.setToZero();
pushTimeSwitch.set(Double.NEGATIVE_INFINITY);
}
pushNumber.increment();
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
@Override
public void compute()
{
if (!isEnabled())
return;
yoDesiredOrientation.getFrameOrientationIncludingFrame(tempOrientation);
yoDesiredAngularVelocity.getFrameTupleIncludingFrame(tempAngularVelocity);
yoFeedForwardAngularAcceleration.getFrameTupleIncludingFrame(feedForwardAngularAcceleration);
accelerationControlModule.compute(desiredAngularAcceleration, tempOrientation, tempAngularVelocity, feedForwardAngularAcceleration, base);
yoDesiredAngularAcceleration.setAndMatchFrame(desiredAngularAcceleration);
tempOrientation.setToZero(endEffectorFrame);
yoCurrentOrientation.setAndMatchFrame(tempOrientation);
accelerationControlModule.getEndEffectorCurrentAngularVelocity(tempAngularVelocity);
yoCurrentAngularVelocity.setAndMatchFrame(tempAngularVelocity);
yoDesiredOrientation.get(tempAxisAngle);
yoDesiredRotationVector.set(tempAxisAngle.getX(), tempAxisAngle.getY(), tempAxisAngle.getZ());
yoDesiredRotationVector.scale(tempAxisAngle.getAngle());
yoCurrentOrientation.get(tempAxisAngle);
yoCurrentRotationVector.set(tempAxisAngle.getX(), tempAxisAngle.getY(), tempAxisAngle.getZ());
yoCurrentRotationVector.scale(tempAxisAngle.getAngle());
output.setAngularAcceleration(endEffectorFrame, baseFrame, desiredAngularAcceleration);
}代码示例来源：origin: us.ihmc/IHMCStateEstimation
public void updateIMUAndRootJointLinearVelocity(FrameVector rootJointVelocityToPack)
{
updateLinearAccelerationMeasurement();
yoLinearAccelerationMeasurementInWorld.getFrameTupleIncludingFrame(linearAccelerationMeasurement);
linearAccelerationMeasurement.scale(estimatorDT);
yoMeasurementFrameLinearVelocityInWorld.add(linearAccelerationMeasurement);
yoMeasurementFrameLinearVelocityInWorld.getFrameTupleIncludingFrame(rootJointVelocityToPack);
getCorrectionVelocityForMeasurementFrameOffset(correctionVelocityForMeasurementFrameOffset);
correctionVelocityForMeasurementFrameOffset.changeFrame(worldFrame);
rootJointVelocityToPack.sub(correctionVelocityForMeasurementFrameOffset);
yoRootJointIMUBasedLinearVelocityInWorld.set(rootJointVelocityToPack);
imuLinearVelocityIMUOnly.add(linearAccelerationMeasurement);
imuLinearVelocityIMUOnly.scale(alphaLeakIMUOnly.getDoubleValue());
rootJointLinearVelocityIMUOnly.set(imuLinearVelocityIMUOnly);
rootJointLinearVelocityIMUOnly.sub(correctionVelocityForMeasurementFrameOffset);
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
private void computeIntegralTerm()
{
if (gains.getMaximumIntegralError() < 1e-5)
{
integralTerm.setToZero(bodyFrame);
return;
}
double errorIntegratedX = positionError.getX() * dt;
double errorIntegratedY = positionError.getY() * dt;
double errorIntegratedZ = positionError.getZ() * dt;
positionErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
double errorMagnitude = positionErrorCumulated.length();
if (errorMagnitude > gains.getMaximumIntegralError())
{
positionErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
}
positionErrorCumulated.getFrameTuple(integralTerm);
integralGainMatrix.transform(integralTerm.getVector());
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
private void computeIntegralTerm()
{
if (gains.getMaximumIntegralError() < 1e-5)
{
integralTerm.setToZero(bodyFrame);
return;
}
double integratedErrorAngle = errorAngleAxis.getAngle() * dt;
double errorIntegratedX = errorAngleAxis.getX() * integratedErrorAngle;
double errorIntegratedY = errorAngleAxis.getY() * integratedErrorAngle;
double errorIntegratedZ = errorAngleAxis.getZ() * integratedErrorAngle;
rotationErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
double errorMagnitude = rotationErrorCumulated.length();
if (errorMagnitude > gains.getMaximumIntegralError())
{
rotationErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
}
rotationErrorCumulated.getFrameTuple(integralTerm);
integralGainMatrix.transform(integralTerm.getVector());
}代码示例来源：origin: us.ihmc/CommonWalkingControlModules
private void computeIntegralTerm(ReferenceFrame baseFrame)
{
if (gains.getMaximumIntegralError() < 1e-5)
{
integralTerm.setToZero(baseFrame);
return;
}
double errorIntegratedX = positionError.getX() * dt;
double errorIntegratedY = positionError.getY() * dt;
double errorIntegratedZ = positionError.getZ() * dt;
positionErrorCumulated.add(errorIntegratedX, errorIntegratedY, errorIntegratedZ);
double errorMagnitude = positionErrorCumulated.length();
if (errorMagnitude > gains.getMaximumIntegralError())
{
positionErrorCumulated.scale(gains.getMaximumIntegralError() / errorMagnitude);
}
positionErrorCumulated.getFrameTupleIncludingFrame(integralTerm);
integralTerm.changeFrame(baseFrame);
integralGainMatrix.transform(integralTerm.getVector());
}代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit
public void initialize(FramePoint initialPosition, FramePoint intermediatePosition, FramePoint finalPosition, double intermediateParameter)
{
initialPosition.changeFrame(referenceFrame);
intermediatePosition.changeFrame(referenceFrame);
finalPosition.changeFrame(referenceFrame);
final double q = intermediateParameter;
MathTools.checkIfInRange(q, 0.0, 1.0);
c0.set(initialPosition);
c2.set(intermediatePosition);
c2.sub(initialPosition);
tempInitialize.set(finalPosition);
tempInitialize.sub(initialPosition);
tempInitialize.scale(q);
c2.sub(tempInitialize);
c2.scale(1.0 / (MathTools.square(q) - q));
c1.set(finalPosition);
c1.sub(initialPosition);
c1.sub(c2);
}
0
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