/** * Returns the value of the z-component of this vector. * * @return the z-component's value. */ @Override public double getZ() { return vector.getZ(); }
@Override public double getZdd() { return linearAcceleration.getZ(); }
@Override public void setAngularVelocity(Vector3D gyroscope, int imuIndex) { r_imu_gyro_x = gyroscope.getX(); r_imu_gyro_y = gyroscope.getY(); r_imu_gyro_z = gyroscope.getZ(); }
@Override public void setCompass(Vector3D compass, int imuIndex) { r_imu_compass_x = compass.getX(); r_imu_compass_y = compass.getY(); r_imu_compass_z = compass.getZ(); }
@Override public void setAcceleration(Vector3D acceleration, int imuIndex) { r_imu_accel_x = acceleration.getX(); r_imu_accel_y = acceleration.getY(); r_imu_accel_z = acceleration.getZ(); }
@Override public boolean isPlanarRegionNavigable(PlanarRegion query, List<PlanarRegion> allOtherRegions) { return query.getNormal().getZ() >= getNormalZThresholdForAccessibleRegions(); } };
@Override public boolean containsNaN() { if (Double.isNaN(orientation.getX()) || Double.isNaN(orientation.getY()) || Double.isNaN(orientation.getZ()) || Double.isNaN(orientation.getS())) return true; if (Double.isNaN(angularVelocity.getX()) || Double.isNaN(angularVelocity.getY()) || Double.isNaN(angularVelocity.getZ())) return true; return false; }
/** {@inheritDoc} */ @Override protected boolean isInsideEpsilonShapeFrame(double x, double y, double z, double epsilon) { double scaledX = x / (radii.getX() + epsilon); double scaledY = y / (radii.getY() + epsilon); double scaledZ = z / (radii.getZ() + epsilon); return EuclidCoreTools.normSquared(scaledX, scaledY, scaledZ) <= 1.0; }
@Override protected void doScaleInstruction(Graphics3DScaleInstruction graphics3DScale) { Vector3D scale = graphics3DScale.getScaleFactor(); Scale outputScale = new Scale(scale.getX(), scale.getY(), scale.getZ()); Group scaleGroup = new Group(); scaleGroup.getTransforms().add(outputScale); currentGroup.getChildren().add(scaleGroup); currentGroup = scaleGroup; }
@Override protected void doTranslateInstruction(Graphics3DTranslateInstruction graphics3DTranslate) { Vector3D t = graphics3DTranslate.getTranslation(); Translate outputTranslation = new Translate(t.getX(), t.getY(), t.getZ()); Group translationGroup = new Group(); translationGroup.getTransforms().add(outputTranslation); currentGroup.getChildren().add(translationGroup); currentGroup = translationGroup; }
@Test public void testAxisSetterWorks() { double newXValue = random.nextDouble(), newYValue = random.nextDouble(), newZValue = random.nextDouble(); Axis.set(randomVector, Axis.X, newXValue); Axis.set(randomVector, Axis.Y, newYValue); Axis.set(randomVector, Axis.Z, newZValue); assertEquals(newXValue, randomVector.getX(), allowedDelta); assertEquals(newYValue, randomVector.getY(), allowedDelta); assertEquals(newZValue, randomVector.getZ(), allowedDelta); }
private Axis createSDFJointAxis(OneDegreeOfFreedomJoint scsJoint) { Axis sdfJointAxis = new Axis(); Vector3D scsJointAxis = new Vector3D(); scsJoint.getJointAxis(scsJointAxis); String xyz = String.valueOf(scsJointAxis.getX()) + " " + String.valueOf(scsJointAxis.getY()) + " " + String.valueOf(scsJointAxis.getZ()); sdfJointAxis.setXyz(xyz); sdfJointAxis.setDynamics(createJointDynamics(scsJoint)); sdfJointAxis.setLimit(createJointLimit(scsJoint)); return sdfJointAxis; }
public void update(Vector3D vectorSource) { x.update(vectorSource.getX()); y.update(vectorSource.getY()); z.update(vectorSource.getZ()); }
@Override protected void doScaleInstruction(Graphics3DScaleInstruction graphics3dObjectScale) { Node scale = new Node(); Vector3D scaleFactor = graphics3dObjectScale.getScaleFactor(); scale.setLocalScale((float) scaleFactor.getX(), (float) scaleFactor.getY(), (float) scaleFactor.getZ()); currentNode.attachChild(scale); currentNode = scale; addChangedScaleListener(scale, graphics3dObjectScale); }
public void fixCameraOnNode(Graphics3DNode node) { checkCameraIsNotNull(); cameraController.setFixPosition(node.getTranslation().getX(), node.getTranslation().getY(), node.getTranslation().getZ()); }
protected void updatePerfectAngularVelocity() { twistInIMUFrame.setIncludingFrame(twist); twistInIMUFrame.changeFrame(imuFrame); angularVelocity.set(twistInIMUFrame.getAngularPart()); perfGyroX.set(angularVelocity.getX()); perfGyroY.set(angularVelocity.getY()); perfGyroZ.set(angularVelocity.getZ()); }
private void addBlock(double yaw, Vector3D position, Vector3D dimensions, AppearanceDefinition color) { AxisAngle orientation = new AxisAngle(new Vector3D(0.0, 0.0, 1.0), yaw); RigidBodyTransform blockPose = new RigidBodyTransform(orientation, position); Box3D block = new Box3D(blockPose, dimensions.getX(), dimensions.getY(), dimensions.getZ()); terrainObject.addTerrainObject(new RotatableBoxTerrainObject(block, color)); }
@Test public void testAxisGetterWorks() { assertEquals(randomVector.getX(), Axis.get(randomVector, Axis.X), allowedDelta); assertEquals(randomVector.getY(), Axis.get(randomVector, Axis.Y), allowedDelta); assertEquals(randomVector.getZ(), Axis.get(randomVector, Axis.Z), allowedDelta); }
@Override protected void computeRotationTranslation(AffineTransform transform3D) { transform3D.setIdentity(); transform3D.setScale(scale * radii.getX(), scale * radii.getY(), scale * radii.getZ()); transform3D.setRotationYawPitchRoll(yawPitchRoll.getYaw().getValue(), yawPitchRoll.getPitch().getValue(), yawPitchRoll.getRoll().getValue()); transform3D.setTranslation(position); }