@Override public void setOrientationToZero() { orientation.setToZero(); }
public void clearInitialConstraint() { initialConstraintOrientationError.setToZero(); initialConstraintAngularVelocityError.setToZero(); tempOrientation.set(initialConstraintOrientationError); tempAngularVelocity.set(initialConstraintAngularVelocityError); initialConstraintTrajectory.setTrajectoryTime(0.0); initialConstraintTrajectory.setInitialConditions(tempOrientation, tempAngularVelocity); initialConstraintTrajectory.setFinalConditions(tempOrientation, tempAngularVelocity); initialConstraintTrajectory.initialize(); }
public void clearFinalConstraint() { finalConstraintOrientationError.setToZero(); finalConstraintAngularVelocityError.setToZero(); tempOrientation.set(finalConstraintOrientationError); tempAngularVelocity.set(finalConstraintAngularVelocityError); finalConstraintTrajectory.setTrajectoryTime(0.0); finalConstraintTrajectory.setInitialConditions(tempOrientation, tempAngularVelocity); finalConstraintTrajectory.setFinalConditions(tempOrientation, tempAngularVelocity); finalConstraintTrajectory.initialize(); }
@Test public void testSetToZero() throws Exception { Random random = new Random(234234L); for (int i = 0; i < ITERATIONS; i++) { ReferenceFrame[] referenceFrames = EuclidFrameRandomTools.nextReferenceFrameTree(random); Quaternion expectedGeometryObject = EuclidCoreRandomTools.nextQuaternion(random); expectedGeometryObject.setToZero(); ReferenceFrame initialFrame = referenceFrames[random.nextInt(referenceFrames.length)]; FrameQuaternion frameGeometryObject = createRandomFrameTuple(random, initialFrame); assertEquals(initialFrame, frameGeometryObject.getReferenceFrame()); assertFalse(expectedGeometryObject.epsilonEquals(frameGeometryObject, EPSILON)); frameGeometryObject.setToZero(); EuclidCoreTestTools.assertTuple4DEquals(expectedGeometryObject, frameGeometryObject, EPSILON); frameGeometryObject = createRandomFrameTuple(random, initialFrame); ReferenceFrame newFrame = referenceFrames[random.nextInt(referenceFrames.length)]; assertEquals(initialFrame, frameGeometryObject.getReferenceFrame()); assertFalse(expectedGeometryObject.epsilonEquals(frameGeometryObject, EPSILON)); frameGeometryObject.setToZero(newFrame); assertEquals(newFrame, frameGeometryObject.getReferenceFrame()); EuclidCoreTestTools.assertTuple4DEquals(expectedGeometryObject, frameGeometryObject, EPSILON); } }
Tuple2DReadOnly tupleOriginalCopy = new Vector2D(tupleOriginal); double yaw = EuclidCoreRandomTools.nextDouble(random, Math.PI); quaternion.setToZero(); double corrupt = random.nextDouble() + 0.5; quaternion.setUnsafe(0.0, 0.0, Math.sin(yaw / 2.0) * corrupt, Math.cos(yaw / 2.0) * corrupt);
quaternion.setToZero(); quaternion.set(0.0, 0.0, Math.sin(yaw / 2.0), Math.cos(yaw / 2.0));
expected.setToZero(); EuclidCoreTestTools.assertQuaternionEquals(quaternion, expected, EPS);
qExpected.setToZero(); QuaternionTools.multiply(q, qInv, qActual); EuclidCoreTestTools.assertQuaternionEquals(qExpected, qActual, EPSILON);
qExpected.setToZero();
qExpected.setToZero();
quaternion.setToZero(); QuaternionTools.transform(quaternion, tupleActual, tupleActual); EuclidCoreTestTools.assertTuple3DEquals(tupleExpected, tupleActual, EPSILON);
quaternion.setToZero(); QuaternionTools.inverseTransform(quaternion, tupleActual, tupleActual); EuclidCoreTestTools.assertTuple3DEquals(tupleExpected, tupleActual, EPSILON);
assertTrue(actual.hasRotation()); quaternion.setToZero(); expectedRotation.set(quaternion); actual.setRotation(quaternion);