public ConstantPoseTrajectoryGenerator(YoFramePoint position, YoFrameQuaternion orientation) { position.checkReferenceFrameMatch(orientation); allowMultipleFrames = false; this.position = position; this.orientation = orientation; multipleFramesHolders = null; }
public YoFramePoseUsingQuaternions(YoFramePoint position, YoFrameQuaternion orientation) { position.checkReferenceFrameMatch(orientation); this.position = position; this.orientation = orientation; }
public YoFramePose(YoFramePoint position, YoFrameOrientation orientation) { position.checkReferenceFrameMatch(orientation); this.position = position; this.orientation = orientation; }
protected YoGraphicAbstractShape(String name, YoFramePoint framePoint, YoFrameOrientation frameOrientation, double scale) { super(name); framePoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); this.yoFramePoint = framePoint; this.yoFrameOrientation = frameOrientation; this.scale = scale; }
public YoGraphicPosition(String name, YoFramePoint framePoint, double scale, AppearanceDefinition appearance, GraphicType type) { super(name); framePoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame()); this.x = framePoint.getYoX(); this.y = framePoint.getYoY(); this.z = framePoint.getYoZ(); this.scale = scale; this.type = type; this.appearance = appearance; }
public void setPose(FramePose framePose) { yoFramePoint.checkReferenceFrameMatch(framePose.getReferenceFrame()); framePose.getPosition(tempPoint); yoFramePoint.setPoint(tempPoint); framePose.getOrientation(tempQuaternion); yoFrameOrientation.set(tempQuaternion); }
public void setConstantPose(FramePose constantPose) { position.checkReferenceFrameMatch(constantPose); position.set(constantPose.getX(), constantPose.getY(), constantPose.getZ()); orientation.set(constantPose.getYaw(), constantPose.getPitch(), constantPose.getRoll()); }
public void setDesiredCapturePointState(YoFramePoint2d currentDesiredCapturePointPosition, YoFrameVector2d currentDesiredCapturePointVelocity) { // Do not set the Z to zero! desiredCapturePointPosition.checkReferenceFrameMatch(currentDesiredCapturePointPosition); desiredCapturePointPosition.setX(currentDesiredCapturePointPosition.getX()); desiredCapturePointPosition.setY(currentDesiredCapturePointPosition.getY()); desiredCapturePointVelocity.checkReferenceFrameMatch(currentDesiredCapturePointVelocity); desiredCapturePointVelocity.setX(currentDesiredCapturePointVelocity.getX()); desiredCapturePointVelocity.setY(currentDesiredCapturePointVelocity.getY()); }
public void setDesiredCapturePointState(FramePoint2d currentDesiredCapturePointPosition, FrameVector2d currentDesiredCapturePointVelocity) { // Do not set the Z to zero! desiredCapturePointPosition.checkReferenceFrameMatch(currentDesiredCapturePointPosition); desiredCapturePointPosition.setX(currentDesiredCapturePointPosition.getX()); desiredCapturePointPosition.setY(currentDesiredCapturePointPosition.getY()); desiredCapturePointVelocity.checkReferenceFrameMatch(currentDesiredCapturePointVelocity); desiredCapturePointVelocity.setX(currentDesiredCapturePointVelocity.getX()); desiredCapturePointVelocity.setY(currentDesiredCapturePointVelocity.getY()); }
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; }