RigidBodyTransform.appendYawRotation
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Best Java code snippets using us.ihmc.euclid.transform.RigidBodyTransform.appendYawRotation (Showing top 17 results out of 315)

  • Common ways to obtain RigidBodyTransform
private void myMethod () {
RigidBodyTransform r =
  • new RigidBodyTransform()
  • Orientation3DReadOnly orientation;D.interfaces.Tuple3DReadOnly translation;new RigidBodyTransform(orientation, translation)
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}
origin: us.ihmc/euclid-shape

/**
* Rotates this shape by angle of {@code yaw} about the z-axis of this shape local coordinates.
*
* @param yaw the angle to rotate about the local z-axis.
*/
public final void appendYawRotation(double yaw)
{
 shapePose.appendYawRotation(yaw);
}
origin: us.ihmc/ihmc-robotics-toolkit

public static void appendRotation(RigidBodyTransform transformToModify, double angle, Axis axis)
{
 switch (axis)
 {
 case X:
   transformToModify.appendRollRotation(angle);
   break;
 case Y:
   transformToModify.appendPitchRotation(angle);
   break;
 case Z:
   transformToModify.appendYawRotation(angle);
   break;
 default:
   throw new RuntimeException("Unhandled value of Axis: " + axis);
 }
}
origin: us.ihmc/simulation-construction-set-tools

private TerrainObject3D createBump(int row, int column, Point2D positionInGrid, double height, double run, double width, double rotateYaw)
{
 AppearanceDefinition bumpAppearance = YoAppearance.DarkGrey();
 double radius = height / 2 + run * run / 8 / height;
 double alpha = Math.asin(run / 2 / radius);
 double depth = radius * Math.cos(alpha);
 RigidBodyTransform location = new RigidBodyTransform();
 location.appendTranslation(getWorldCoordinate(row, column));
 location.appendTranslation(positionInGrid.getX(), positionInGrid.getY(), -depth);
 location.appendYawRotation(rotateYaw);
 location.appendPitchRotation(Math.PI / 2);
 return new CylinderTerrainObject(location, width - bumpSideMargin, radius, bumpAppearance);
}
origin: us.ihmc/ihmc-manipulation-planning

  break;
case YAW:
  ret.appendYawRotation(configuration[0]);
  break;
case SO3:
  ret.appendYawRotation(theta3);
  break;
origin: us.ihmc/ihmc-manipulation-planning

/**
* X-axis of hand is located toward Sky.
* Z-axis of hand is located toward (wallNormalVector).
*/
public static Pose3D computeCuttingWallTrajectory(double time, double trajectoryTime, double cuttingRadius, boolean cuttingDirectionCW,
                         Point3D cuttingCenterPosition, Vector3D wallNormalVector)
{
 Vector3D xAxisRotationMatrix = new Vector3D(0, 0, 1);
 Vector3D yAxisRotationMatrix = new Vector3D();
 Vector3D zAxisRotationMatrix = new Vector3D(wallNormalVector);
 zAxisRotationMatrix.normalize();
 yAxisRotationMatrix.cross(zAxisRotationMatrix, xAxisRotationMatrix);
 RotationMatrix cuttingRotationMatrix = new RotationMatrix();
 cuttingRotationMatrix.setColumns(xAxisRotationMatrix, yAxisRotationMatrix, zAxisRotationMatrix);
 RigidBodyTransform handControl = new RigidBodyTransform(cuttingRotationMatrix, cuttingCenterPosition);
 double phase = time / trajectoryTime;
 handControl.appendYawRotation(cuttingDirectionCW ? -phase * 2 * Math.PI : phase * 2 * Math.PI);
 handControl.appendTranslation(0, cuttingRadius, 0);
 handControl.appendYawRotation(cuttingDirectionCW ? phase * 2 * Math.PI : -phase * 2 * Math.PI);
 return new Pose3D(handControl);
}
origin: us.ihmc/ihmc-swing-plotting

  @Override
  protected void updateTransformToParent(RigidBodyTransform transformToParent)
  {
   //this fixes a threading issue. Generating garbage on purpose.
   RigidBodyTransform tempTransform = new RigidBodyTransform();
   screenPosition.changeFrame(pixelsFrame);
   tempTransform.setIdentity();
   tempTranslation.set(screenPosition.getX() + getPlotterWidthPixels() / 2.0, screenPosition.getY() - getPlotterHeightPixels() / 2.0, 0.0);
   tempTransform.appendTranslation(tempTranslation);
   tempTransform.appendYawRotation(screenRotation);
   tempTranslation.set(-getPlotterWidthPixels() / 2.0, getPlotterHeightPixels() / 2.0, 0.0);
   tempTransform.appendTranslation(tempTranslation);
   tempTransform.appendPitchRotation(Math.PI);
   tempTransform.appendYawRotation(Math.PI);
   transformToParent.set(tempTransform);
  }
};
origin: us.ihmc/simulation-construction-set-tools

private RegularPolygon(double centerToPoints, int numberOfPoints)
{
  this.centerToPoints = centerToPoints;
  polygon = new ConvexPolygon2D();
  for (int i = 0; i < numberOfPoints; i++)
  {
   double intervalAngle = 2 * Math.PI / numberOfPoints;
   RigidBodyTransform vertexTransform = new RigidBodyTransform();
   vertexTransform.appendYawRotation(intervalAngle * i);
   vertexTransform.appendTranslation(centerToPoints, 0.0, 0.0);
   polygon.addVertex(vertexTransform.getTranslationX(), vertexTransform.getTranslationY());
  }
  polygon.update();
}
origin: us.ihmc/ihmc-avatar-interfaces-test

  public static void main(String[] args)
  {
   RigidBodyTransform t1 = new RigidBodyTransform();
   Vector3D rotationVector = new Vector3D();
   DenseMatrix64F rotationVectorMatrix = new DenseMatrix64F(3, 1);

   t1.appendYawRotation(Math.PI / 8.0);
   t1.getRotation(rotationVector);
   rotationVector.get(rotationVectorMatrix);

   SelectionMatrix3D selectionMatrix3d = new SelectionMatrix3D();
   selectionMatrix3d.selectZAxis(false);
   DenseMatrix64F selectionMatrix = new DenseMatrix64F(3, 3);
   selectionMatrix3d.getFullSelectionMatrixInFrame(null, selectionMatrix);

   DenseMatrix64F result = new DenseMatrix64F(3, 1);
   CommonOps.mult(selectionMatrix, rotationVectorMatrix, result);

   System.out.println(result);
   rotationVector.set(result);
   RotationMatrix rm = new RotationMatrix(rotationVector);
   System.out.println(rm);
  }
}
origin: us.ihmc/ihmc-avatar-interfaces

 break;
case YAW:
 randomPose.appendYawRotation(value);
 break;
default:
origin: us.ihmc/simulation-construction-set-tools

double translationX = centerToSideLine * (1 + ratioToInnerPolygon) / 2;
double pitchAngle = -Math.atan(depthToCentroid / (centerToSideLine * (1 - ratioToInnerPolygon)));
sideTransform.appendYawRotation(yawAngle);
sideTransform.appendTranslation(translationX, 0.0, -depthToCentroid / 2);
sideTransform.appendPitchRotation(pitchAngle);
origin: us.ihmc/ihmc-robotics-toolkit-test

transform2.appendYawRotation(-Math.PI / 4.0);
transform2.appendRollRotation(Math.PI / 2.0);
PlanarRegion region2 = new PlanarRegion(transform2, polygonsRegion2);
origin: us.ihmc/simulation-construction-set-tools

transform.appendYawRotation(yaw);
transform.invert();
baseBlockFrame = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("baseFrame", ReferenceFrame.getWorldFrame(), transform);
origin: us.ihmc/euclid-test

 break;
case 2:
 pose.appendYawRotation(Math.PI);
 break;
default:
 break;
case 2:
 pose.appendYawRotation(angle);
 break;
default:
pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendPitchRotation(Math.PI / 2.0);
pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendRollRotation(Math.PI / 2.0);
origin: us.ihmc/euclid-test

pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendPitchRotation(Math.PI / 2.0);
pose2.appendYawRotation(Math.PI / 2.0);
pose2.appendRollRotation(Math.PI / 2.0);
origin: us.ihmc/euclid-test

actual.appendYawRotation(yaw);
assertTrue(actual.hasRotation());
EuclidCoreTestTools.assertRigidBodyTransformEquals(expected, actual, EPS);
actual.set(original);
assertFalse(actual.hasRotation());
actual.appendYawRotation(yaw);
assertTrue(actual.hasRotation());
actual.set(original);
assertTrue(actual.hasRotation());
actual.appendYawRotation(yaw);
assertTrue(actual.hasRotation());
actual.set(original);
assertTrue(actual.hasRotation());
actual.appendYawRotation(yaw);
assertFalse(actual.hasRotation());
origin: us.ihmc/ihmc-avatar-interfaces-test

protected FootstepDataListMessage createYawingForwardWalkingFootstepMessage()
 transform.appendYawRotation(0.5);
 ReferenceFrame referenceFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("yawing", ReferenceFrame.getWorldFrame(), transform);
origin: us.ihmc/ihmc-footstep-planning

rotationTransform.appendYawRotation(theta);
us.ihmc.euclid.transformRigidBodyTransformappendYawRotation

Popular methods of RigidBodyTransform

  • <init>
  • setTranslation
  • transform
  • set
  • setRotation
  • getTranslation
  • getRotation
  • multiply
  • invert
  • get
  • getTranslationVector
  • setRotationYawAndZeroTranslation
  • getTranslationVector,
  • setRotationYawAndZeroTranslation,
  • getRotationMatrix,
  • setIdentity,
  • setRotationEulerAndZeroTranslation,
  • setAndInvert,
  • setRotationPitchAndZeroTranslation,
  • appendTranslation,
  • setRotationAndZeroTranslation

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