本文整理了Java中us.ihmc.robotics.math.trajectories.YoPolynomial.getPosition()方法的一些代码示例，展示了YoPolynomial.getPosition()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.getPosition()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：getPosition

YoPolynomial.getPosition介绍

暂无

代码示例

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

@Override
public double getX()
{
  return xPolynomial.getPosition();
}

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

@Override
public double getY()
{
  return yPolynomial.getPosition();
}

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

@Override
 public double getZ()
 {
   return zPolynomial.getPosition();
 }
};

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

public double getValue()
{
 return polynomial.getPosition();
}

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

public double getAngleFromXAxis()
{
 return anglePolynomial.getPosition();
}

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

public double getPosition()
{
 return polynomial.getPosition();
}

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

public double getValue()
{
 return polynomial.getPosition();
}

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

public double getValue()
{
 return polynomial.getPosition();
}

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

public double getValue()
{
 return polynomial.getPosition();
}

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

public double getAngleFromXAxis()
{
 return anglePolynomial.getPosition();
}

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

@Override
public double getValue()
{
 return isDone() ? finalPosition.getDoubleValue() : findCurrentPolynomial().getPosition();
}

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

@Override
public double getValue()
{
 return isDone() ? finalPosition.getDoubleValue() : findCurrentPolynomial().getPosition();
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetPosition()
{
 Random random = new Random(165L);
 int order = 5;
 YoPolynomial spline = new YoPolynomial("test", order, registry);
 double[] coefficients = getRandomCoefficients(order, random);
 spline.setDirectly(coefficients);
 double x = random.nextDouble();
 spline.compute(x);
 double y = spline.getPosition();
 double yCheck = coefficients[0] + coefficients[1] * x + coefficients[2] * x * x + coefficients[3] * x * x * x + coefficients[4] * x * x * x * x;
 assertEquals(yCheck, y, 1e-12);
}

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

public void computePositionsForVis(double time)
{
 nominalTrajectoryGenerator.compute(time);
 xPolynomial.compute(time);
 yPolynomial.compute(time);
 nominalTrajectoryGenerator.getPosition(nominalTrajectoryPosition);
 nominalTrajectoryGenerator.getVelocity(nominalTrajectoryVelocity);
 nominalTrajectoryGenerator.getAcceleration(nominalTrajectoryAcceleration);
 desiredPosition.setX(xPolynomial.getPosition());
 desiredPosition.setY(yPolynomial.getPosition());
 desiredPosition.setZ(nominalTrajectoryPosition.getZ());
}

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

private void updatePrivilegedConfiguration()
{
 double timeInTrajectory = MathTools.clipToMinMax(getTimeInCurrentState(), 0.0, durationForStanceLegStraightening.getDoubleValue());
 kneePrivilegedConfigurationTrajectory.compute(timeInTrajectory);
 straightLegsPrivilegedConfigurationCommand.clear();
 straightLegsPrivilegedConfigurationCommand.addJoint(kneePitch, kneePrivilegedConfigurationTrajectory.getPosition());
 straightLegsPrivilegedConfigurationCommand.applyPrivilegedConfigurationToSubChain(pelvis, contactableFoot.getRigidBody());
}

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

public void compute(double time)
{
 this.currentTime.set(time);
 time = MathTools.clipToMinMax(time, 0.0, trajectoryTime.getDoubleValue());
 polynomial.compute(time);
 currentValue.set(polynomial.getPosition());
 currentVelocity.set(polynomial.getVelocity());
 currentAcceleration.set(polynomial.getAcceleration());
}

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

private void computeInitialConstraintOffset(double time)
{
 double startTime = initialBlendStartTime.getDoubleValue();
 double endTime = initialBlendEndTime.getDoubleValue();
 time = MathTools.clamp(time - initialBlendTimeOffset.getValue(), startTime, endTime);
 for (int i = 0; i < 3; i++)
 {
   initialConstraintPolynomial[i].compute(time);
   initialConstraintPositionOffset.setElement(i, initialConstraintPolynomial[i].getPosition());
   initialConstraintVelocityOffset.setElement(i, initialConstraintPolynomial[i].getVelocity());
   initialConstraintAccelerationOffset.setElement(i, initialConstraintPolynomial[i].getAcceleration());
 }
}

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

private void computeFinalConstraintOffset(double time)
  {
   double startTime = finalBlendStartTime.getDoubleValue();
   double endTime = finalBlendEndTime.getDoubleValue();
   time = MathTools.clamp(time - finalBlendTimeOffset.getValue(), startTime, endTime);

   for (int i = 0; i < 3; i++)
   {
     finalConstraintPolynomial[i].compute(time);
     finalConstraintPositionOffset.setElement(i, finalConstraintPolynomial[i].getPosition());
     finalConstraintVelocityOffset.setElement(i, finalConstraintPolynomial[i].getVelocity());
     finalConstraintAccelerationOffset.setElement(i, finalConstraintPolynomial[i].getAcceleration());
   }
  }
}

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

public void compute(double time)
{
 if (continuouslyUpdateFinalOrientation.getBooleanValue())
   updateFinalOrientation();
 this.currentTime.set(time);
 time = MathTools.clamp(time, 0.0, trajectoryTime.getDoubleValue());
 parameterPolynomial.compute(time);
 
 double parameter = isDone() ? 1.0 : parameterPolynomial.getPosition();
 desiredOrientation.interpolate(initialOrientation, finalOrientation, parameter);
 double parameterd = isDone() ? 0.0 : parameterPolynomial.getVelocity();
 orientationInterpolationCalculator.computeAngularVelocity(desiredAngularVelocity, initialOrientation, finalOrientation, parameterd);
 double parameterdd = isDone() ? 0.0 : parameterPolynomial.getAcceleration();
 orientationInterpolationCalculator.computeAngularAcceleration(desiredAngularAcceleration, initialOrientation, finalOrientation, parameterdd);
}

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

public void compute(double time)
{
 if (continuouslyUpdateFinalOrientation.getBooleanValue())
   updateFinalOrientation();
 this.currentTime.set(time);
 time = MathTools.clipToMinMax(time, 0.0, trajectoryTime.getDoubleValue());
 parameterPolynomial.compute(time);
 
 double parameter = isDone() ? 1.0 : parameterPolynomial.getPosition();
 desiredOrientation.interpolate(initialOrientation, finalOrientation, parameter);
 double parameterd = isDone() ? 0.0 : parameterPolynomial.getVelocity();
 orientationInterpolationCalculator.computeAngularVelocity(desiredAngularVelocity, initialOrientation, finalOrientation, parameterd);
 double parameterdd = isDone() ? 0.0 : parameterPolynomial.getAcceleration();
 orientationInterpolationCalculator.computeAngularAcceleration(desiredAngularAcceleration, initialOrientation, finalOrientation, parameterdd);
}