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

YoPolynomial介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

private void setupPolynomialSpline(double time, double duration)
{
 yoPolynomial.setCubic(time, time + duration, 0.0, 0.0, 1.0, 0.0);
}

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

public void compute(double t)
{
 xPolynomial.compute(t);
 yPolynomial.compute(t);
 zPolynomial.compute(t);
}

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/IHMCRoboticsToolkit

public void compute(double t)
{
 for (Direction direction : Direction.values)
 {
   polynomials.get(direction).compute(t);
 }
 for (Direction direction : Direction.values)
 {
   position.set(direction, polynomials.get(direction).getPosition());
 }
 for (Direction direction : Direction.values)
 {
   velocity.set(direction, polynomials.get(direction).getVelocity());
 }
 for (Direction direction : Direction.values)
 {
   acceleration.set(direction, polynomials.get(direction).getAcceleration());
 }
}

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/ihmc-footstep-planning

public FootstepPlanningResult planWaypoints()
{
 waypoints.clear();
 double yaw = bodyStartPose.getYaw();
 xPoly.setQuadratic(0.0, 1.0, bodyStartPose.getX(), Math.cos(yaw) * 0.2, bodyGoalPose.getX());
 yPoly.setQuadratic(0.0, 1.0, bodyStartPose.getY(), Math.sin(yaw) * 0.2, bodyGoalPose.getY());
 zPoly.setQuadratic(0.0, 1.0, bodyStartPose.getZ(), Math.sin(yaw) * 0.2, bodyGoalPose.getZ());
 for (int i = 0; i < numberOfPoints; i++)
 {
   double percent = i / (double) (numberOfPoints - 1);
   xPoly.compute(percent);
   yPoly.compute(percent);
   zPoly.compute(percent);
   Point3D point = new Point3D(xPoly.getPosition(), yPoly.getPosition(), zPoly.getPosition());
   waypoints.add(point);
 }
 yoResult.set(FootstepPlanningResult.OPTIMAL_SOLUTION);
 return yoResult.getEnumValue();
}

代码示例来源：origin: us.ihmc/ihmc-footstep-planning

public SplinePathPlanner(FootstepPlannerParameters parameters, YoVariableRegistry parentRegistry)
{
 super(parameters, parentRegistry);
 xPoly = new YoPolynomial("xPoly", 4, parentRegistry);
 yPoly = new YoPolynomial("yPoly", 4, parentRegistry);
 zPoly = new YoPolynomial("zPoly", 4, parentRegistry);
}

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/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testCubicDerivativePointAutomated()
{
 //cubic polynomial: y(x) = a0 + a1*x + a2*x^2 + a3*x^3
 YoVariableRegistry registry = new YoVariableRegistry(namePrefix);
 int numberOfCoefficients = 4;
 YoPolynomial cubic = new YoPolynomial(namePrefix + "Cubic", numberOfCoefficients, registry);
 
 double x0 = 1.0, xf = 2.0;
 double y0 = 0.5, yf = 1.5;
 double dy0 = -0.5, dyf = 2.0;
    
 cubic.setCubic(x0, xf, y0, dy0, yf, dyf);
 
 double x = 2.0/3.0 * (xf - x0);
 compareDerivativesPoint(cubic, x);
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testLinearDerivativePointManual()
{
 //linear polynomial: y(x) = a0 + a1*x
 YoVariableRegistry registry = new YoVariableRegistry(namePrefix);
 int numberOfCoefficients = 2;
 YoPolynomial linear = new YoPolynomial(namePrefix + "Linear", numberOfCoefficients, registry);
 
 double x0 = 1.0, xf = 2.0;
 double y0 = 0.5, yf = 1.5;
 
 linear.setLinear(x0, xf, y0, yf);
 
 double x = 2.0/3.0 * (xf - x0);
 double a0 = linear.getCoefficient(0);
 double a1 = linear.getCoefficient(1);
 
 double yLinear = linear.getDerivative(0, x);
 double yManual = a0 + a1*x;
 assertEquals(yLinear, yManual, EPSILON);
    
 double dyLinear = linear.getDerivative(1, x);
 double dyManual = a1;
 assertEquals(dyLinear, dyManual, EPSILON);
 
 double ddyLinear = linear.getDerivative(2, x);
 double ddyManual = 0.0;
 assertEquals(ddyLinear, ddyManual, EPSILON); 
}

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);
 currentTimeOffset.set(0.0);
 currentPolynomialIndex.set(0);
 trajectoryTime.set(trajectoryTimeProvider.getValue());
 subTrajectoryTime.set(trajectoryTime.getDoubleValue() / (currentNumberOfWaypoints.getIntegerValue() + 1));
 startMotionPolynomial.setCubicThreeInitialConditionsFinalPosition(0.0, subTrajectoryTime.getDoubleValue(), initialPosition, initialVelocity, 0.0,
    intermediatePositions.get(0).getDoubleValue());
 startMotionPolynomial.compute(subTrajectoryTime.getDoubleValue());
 for (int i = 0; i < currentNumberOfWaypoints.getIntegerValue() - 1; i++)
 {
   YoPolynomial connectingPolynomial = connectingPolynomials.get(i);
   double z0 = intermediatePositions.get(i).getDoubleValue();
   double zFinal = intermediatePositions.get(i + 1).getDoubleValue();
   connectingPolynomial.setLinear(0.0, subTrajectoryTime.getDoubleValue(), z0, zFinal);
   connectingPolynomial.compute(subTrajectoryTime.getDoubleValue());
 }
 double z0 = intermediatePositions.get(currentNumberOfWaypoints.getIntegerValue() - 1).getDoubleValue();
 double zFinal = finalPosition.getDoubleValue();
 finalizeMotionPolynomial.setCubicInitialPositionThreeFinalConditions(0.0, subTrajectoryTime.getDoubleValue(), z0, zFinal, 0.0, 0.0);
}

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

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

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.setCubic(0.0, trajectoryTime.getDoubleValue(), initialPositionProvider.getValue(), initialVelocityProvider.getValue(),
               finalPositionProvider.getValue(), finalVelocityProvider.getValue());
   }
  }
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testLinearDerivativePointAutomated()
{
 //linear polynomial: y(x) = a0 + a1*x
 YoVariableRegistry registry = new YoVariableRegistry(namePrefix);
 int numberOfCoefficients = 2;
 YoPolynomial linear = new YoPolynomial(namePrefix + "Linear", numberOfCoefficients, registry);
 
 double x0 = 1.0, xf = 2.0;
 double y0 = 0.5, yf = 1.5;
 
 linear.setLinear(x0, xf, y0, yf);
 
 double x = 2.0/3.0 * (xf - x0);
 compareDerivativesPoint(linear, x);
}

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

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

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

public void setLinear(double t0, double tFinal, double z0, double zf)
{
 setTime(t0, tFinal);
 polynomial.setLinear(t0, tFinal, z0, zf);
}

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

public void setQuadratic(double t0, double tFinal, double z0, double zd0, double zFinal)
{
 setTime(t0, tFinal);
 polynomial.setQuadratic(t0, tFinal, z0, zd0, zFinal);
}

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);
   }
  }
}

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-footstep-planning-test

xPoly.setQuadratic(0.0, 1.0, 0.0, 0.2, x.getDoubleValue());
yPoly.setQuadratic(0.0, 1.0, 0.0, 0.0, y.getDoubleValue());
for (int i = 0; i < numberOfPoints; i++)
  xPoly.compute(percent);
  yPoly.compute(percent);
  Point3D point2d = new Point3D(xPoly.getPosition(), yPoly.getPosition(), 0.0);
  waypoints.add(point2d);