public YoFramePose(String prefix, String suffix, ReferenceFrame frame, YoVariableRegistry registry) { position = new YoFramePoint(prefix, suffix, frame, registry); orientation = new YoFrameOrientation(prefix, suffix, frame, registry); }
public void setOrientation(FrameOrientation frameOrientation) { boolean notifyListeners = true; orientation.set(frameOrientation, notifyListeners); }
public void set(RigidBodyTransform transform3D) { tempFrameOrientation.setIncludingFrame(getReferenceFrame(), transform3D); set(tempFrameOrientation); }
public void interpolate(YoFrameOrientation orientationOne, YoFrameOrientation orientationTwo, double alpha) { orientationOne.putYoValuesIntoFrameOrientation(); orientationTwo.putYoValuesIntoFrameOrientation(); tempFrameOrientation.setToZero(getReferenceFrame()); tempFrameOrientation.interpolate(orientationOne.tempFrameOrientation, orientationTwo.tempFrameOrientation, alpha); this.set(tempFrameOrientation); }
public YoGraphicCoordinateSystem(String name, YoFramePoint framePoint, YoFrameOrientation orientation, double scale) { super(name); ReferenceFrame.getWorldFrame().checkReferenceFrameMatch(framePoint); framePoint.checkReferenceFrameMatch(orientation.getReferenceFrame()); x = framePoint.getYoX(); y = framePoint.getYoY(); z = framePoint.getYoZ(); yaw = orientation.getYaw(); pitch = orientation.getPitch(); roll = orientation.getRoll(); this.scale = scale; }
public void setYawPitchRoll(double[] yawPitchRoll) { orientation.setYawPitchRoll(yawPitchRoll[0], yawPitchRoll[1], yawPitchRoll[2]); }
public void setAndMatchFrame(FrameOrientation orientation) { setAndMatchFrame(orientation, true); }
desiredHoldOrientation.getFrameOrientationIncludingFrame(desiredOrientation); desiredOrientationCopy.set(desiredAxisAngle); desiredOrientationCopy.changeFrame(worldFrame); desiredHoldOrientation.set(desiredOrientationCopy); desiredHoldOrientation.getFrameOrientationIncludingFrame(desiredOrientation);
private void updateViz() { yoRootJointFrameQuaternion.checkReferenceFrameMatch(worldFrame); yoRootJointFrameQuaternion.set(rotationFromRootJointFrameToWorld); yoRootJointAngularVelocityFromFD.update(); yoRootJointFrameOrientation.checkReferenceFrameMatch(worldFrame); yoRootJointFrameOrientation.set(rotationFromRootJointFrameToWorld); }
public DoubleYoVariable getYoYaw() { return getOrientation().getYaw(); } }
public void getOrientation(FrameOrientation orientationToPack) { frameOrientation.getFrameOrientationIncludingFrame(orientationToPack); } }
public void setAndMatchFrame(YoFrameOrientation yoFrameOrientation, boolean notifyListeners) { yoFrameOrientation.getFrameOrientationIncludingFrame(tempFrameOrientation); tempFrameOrientation.changeFrame(getReferenceFrame()); tempFrameOrientation.getYawPitchRoll(tempYawPitchRoll); yaw.set(tempYawPitchRoll[0], notifyListeners); pitch.set(tempYawPitchRoll[1], notifyListeners); roll.set(tempYawPitchRoll[2], notifyListeners); }
public DoubleYoVariable getYoRoll() { return getOrientation().getRoll(); }
public DoubleYoVariable getYoPitch() { return getOrientation().getPitch(); }
@Override protected void computeRotationTranslation(Transform3d transform3D) { transform3D.setIdentity(); translationVector.set(yoFramePoint.getX(), yoFramePoint.getY(), yoFramePoint.getZ()); yoFrameOrientation.getEulerAngles(rotationEulerVector); transform3D.setRotationEulerAndZeroTranslation(rotationEulerVector); transform3D.setTranslation(translationVector); transform3D.setScale(scale); }
public void set(Quat4d quaternion, boolean notifyListeners) { tempFrameOrientation.setIncludingFrame(getReferenceFrame(), quaternion); set(tempFrameOrientation, notifyListeners); }
public void setRotationMagnitudeYawPitchRoll(double[] rotationYawPitchRoll) { this.rotationMagnitude.setYawPitchRoll(rotationYawPitchRoll); }
public void setAndMatchFrame(YoFrameOrientation yoFrameOrientation) { setAndMatchFrame(yoFrameOrientation, true); }
public double getYaw() { return getOrientation().getYaw().getDoubleValue(); }