YoVariableDoubleProvider timeRemainingProvider = new YoVariableDoubleProvider("", new YoVariableRegistry(""));
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint3D(worldFrame, new double[] {-0.1, 2.3, 0.0}));
VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector3D(worldFrame, new double[] {0.2, 0.0, -0.05}));
finalPosition.set(new FramePoint3D(worldFrame, new double[] {0.2, 2.35, 0.03}));
YoPositionProvider finalPositionProvider = new YoPositionProvider(finalPosition);
VectorProvider finalVelocityProvider = new ConstantVectorProvider(new FrameVector3D(worldFrame, new double[] {0, 0, -0.02}));
VectorProvider intermediateVelocityProvider = new ConstantVectorProvider(intermediateVelocity);