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

YoPolynomial.setQuintic介绍

暂无

代码示例

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

public void setQuinticWithZeroTerminalAcceleration(double t0, double tFinal, double z0, double zd0, double zFinal, double zdFinal)
{
 setQuintic(t0, tFinal, z0, zd0, 0.0, zFinal, zdFinal, 0.0);
}

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

public void setQuintic(double t0, double tFinal, double z0, double zd0, double zdd0, double zf, double zdf, double zddf)
{
 setTime(t0, tFinal);
 polynomial.setQuintic(t0, tFinal, z0, zd0, zdd0, zf, zdf, zddf);
}

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

public void setQuinticWithZeroTerminalAcceleration(double t0, double tFinal, Point3DReadOnly z0, Vector3DReadOnly zd0, Point3DReadOnly zFinal,
                         Vector3DReadOnly zdFinal)
{
 for (int index = 0; index < 3; index++)
   getYoPolynomial(index).setQuintic(t0, tFinal, z0.getElement(index), zd0.getElement(index), 0.0, zFinal.getElement(index),
                   zdFinal.getElement(index), 0.0);
}

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

protected void setPolynomial()
  {
   this.polynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPositionProvider.getValue(), initialVelocityProvider.getValue(), 0.0,
      finalPositionProvider.getValue(), finalVelocityProvider.getValue(), 0.0);
  }
}

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

public void initialize()
{
 MathTools.checkIfInRange(trajectoryTime.getDoubleValue(), 0.0, Double.POSITIVE_INFINITY);
 quinticParameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 reset();
 if (visualize)
   visualizeTrajectory();
}

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

public void setQuintic(double t0, double tf, FramePoint p0, FrameVector pd0, FrameVector pdd0, FramePoint pf, FrameVector pdf, FrameVector pddf)
{
 MathTools.checkIfEqual(numberOfCoefficientsPerPolynomial, 6);
 for (Direction direction : Direction.values)
 {
   polynomials.get(direction).setQuintic(t0, tf, p0.get(direction), pd0.get(direction), pdd0.get(direction), pf.get(direction), pdf.get(direction),
           pddf.get(direction));
 }
 setYoVariables(t0, tf);
}

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

@Override
public void initialize()
{
 currentTime.set(0.0);
 trajectoryTime.set(trajectoryTimeProvider.getValue());
 parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 updateInitialPosition();
 updateFinalPosition();
}

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

@Override
public void initialize()
{
 currentTime.set(0.0);
 trajectoryTime.set(trajectoryTimeProvider.getValue());
 parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 updateInitialPosition();
 updateFinalPosition();
}

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

public void setQuintic(double t0, double tFinal, Point3DReadOnly z0, Vector3DReadOnly zd0, Vector3DReadOnly zdd0, Point3DReadOnly zf, Vector3DReadOnly zdf,
           Vector3DReadOnly zddf)
{
 for (int index = 0; index < 3; index++)
   getYoPolynomial(index).setQuintic(t0, tFinal, z0.getElement(index), zd0.getElement(index), zdd0.getElement(index), zf.getElement(index),
                    zdf.getElement(index), zddf.getElement(index));
}

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

public void initialize()
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 initialPositionProvider.getPosition(tempFramePoint);
 tempFramePoint.changeFrame(referenceFrame);
 double y = tempFramePoint.getY();
 double x = tempFramePoint.getX();
 z.set(tempFramePoint.getZ());
 radius.set(Math.sqrt(x * x + y * y));
 double initialAngle = Math.atan2(y, x);
 double finalAngle = initialAngle + desiredRotationAngleProvider.getValue();
 anglePolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialAngle, 0.0, 0.0, finalAngle, 0.0, 0.0);
}

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

@Override
public void initialize()
{
 currentTime.set(0.0);
 MathTools.checkIntervalContains(trajectoryTime.getDoubleValue(), 0.0, Double.POSITIVE_INFINITY);
 parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 currentOrientation.set(initialOrientation);
 currentAngularVelocity.setToZero();
 currentAngularAcceleration.setToZero();
}

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

@Override
public void initialize()
{
 currentTime.set(0.0);
 MathTools.checkIfInRange(trajectoryTime.getDoubleValue(), 0.0, Double.POSITIVE_INFINITY);
 parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 
 currentOrientation.set(initialOrientation);
 currentAngularVelocity.setToZero();
 currentAngularAcceleration.setToZero();
}

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

public void initialize()
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 initialPositionProvider.getPosition(tempFramePoint);
 tempFramePoint.changeFrame(referenceFrame);
 double y = tempFramePoint.getY();
 double x = tempFramePoint.getX();
 z.set(tempFramePoint.getZ());
 radius.set(Math.sqrt(x * x + y * y));
 double initialAngle = Math.atan2(y, x);
 double finalAngle = initialAngle + desiredRotationAngleProvider.getValue();
 anglePolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialAngle, 0.0, 0.0, finalAngle, 0.0, 0.0);
}

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

private void computeInitialConstraintPolynomial(double initialTime, double blendDuration)
{
 initialBlendTimeOffset.set(initialTime);
 initialBlendStartTime.set(0.0);
 initialBlendEndTime.set(blendDuration);
 for (int i = 0; i < 3; i++)
 {
   double startTime = initialBlendStartTime.getDoubleValue();
   double endTime = initialBlendEndTime.getDoubleValue();
   double positionError = initialConstraintPositionError.getElement(i);
   double velocityError = initialConstraintVelocityError.getElement(i);
   initialConstraintPolynomial[i].setQuintic(startTime, endTime, positionError, velocityError, 0, 0, 0, 0);
 }
}

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

private void computeFinalConstraintPolynomial(double finalTime, double blendDuration)
{
 finalBlendTimeOffset.set(finalTime);
 finalBlendStartTime.set(-blendDuration);
 finalBlendEndTime.set(0.0);
 for (int i = 0; i < 3; i++)
 {
   double startTime = finalBlendStartTime.getDoubleValue();
   double endTime = finalBlendEndTime.getDoubleValue();
   double positionError = finalConstraintPositionError.getElement(i);
   double velocityError = finalConstraintVelocityError.getElement(i);
   finalConstraintPolynomial[i].setQuintic(startTime, endTime, 0, 0, 0, positionError, velocityError, 0);
 }
}

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

/**
* Desired joint angles and velocities come from reading the joints, this method can override them those position and velocity values. 
* @param currentDesiredPosition Sets the desired joint position.
* @param currentDesiredVelocity Sets the desired joint velocity.
*/
@Override
public void initialize(double initialPosition, double initialVelocity)
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 this.polynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPosition, initialVelocity, 0.0, finalPosition.getDoubleValue(), 0.0, 0.0);
 currentPosition.set(initialPosition);
 currentVelocity.set(initialVelocity);
 currentAcceleration.set(0.0);
}

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

/**
* Desired joint angles and velocities come from reading the joints, this method can override them those position and velocity values. 
* @param currentDesiredPosition Sets the desired joint position.
* @param currentDesiredVelocity Sets the desired joint velocity.
*/
@Override
public void initialize(double initialPosition, double initialVelocity)
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 this.polynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPosition, initialVelocity, 0.0, finalPosition.getDoubleValue(), 0.0, 0.0);
 currentPosition.set(initialPosition);
 currentVelocity.set(initialVelocity);
 currentAcceleration.set(0.0);
}

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

public void initialize()
{
 double trajectoryTime = trajectoryTimeProvider.getValue();
 MathTools.checkIntervalContains(trajectoryTime, 0.0, Double.POSITIVE_INFINITY);
 this.trajectoryTime.set(trajectoryTime);
 currentTime.set(0.0);
 parameterPolynomial.setQuintic(0.0, trajectoryTime, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 
 updateInitialOrientation();
 updateFinalOrientation();
 desiredOrientation.set(initialOrientation);
 desiredAngularVelocity.setToZero();
 desiredAngularAcceleration.setToZero();
}

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

public void initialize()
{
 double trajectoryTime = trajectoryTimeProvider.getValue();
 MathTools.checkIfInRange(trajectoryTime, 0.0, Double.POSITIVE_INFINITY);
 this.trajectoryTime.set(trajectoryTime);
 currentTime.set(0.0);
 parameterPolynomial.setQuintic(0.0, trajectoryTime, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0);
 
 updateInitialOrientation();
 updateFinalOrientation();
 desiredOrientation.set(initialOrientation);
 desiredAngularVelocity.setToZero();
 desiredAngularAcceleration.setToZero();
}

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

@Override
  protected void setPolynomial()
  {
   if (Precision.equals(0.0, trajectoryTime.getDoubleValue()))
   {
     polynomial.setLinear(0.0, initialPositionProvider.getValue(), initialVelocityProvider.getValue());
   }
   else
   {
     polynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), initialPositionProvider.getValue(), initialVelocityProvider.getValue(), 0.0,
                  finalPositionProvider.getValue(), finalVelocityProvider.getValue(), 0.0);
   }
  }
}