@Override public void setPosition(Point3d position) { this.position.set(position); }
@Override public void setPoint(Point3d point) { this.set(point); }
@Override public void setPosition(Point3d position) { this.position.set(position); }
@Override public void setPosition(Point3d position) { this.position.set(position); }
@Override public void setPoint(PointInterface pointInterface) { pointInterface.getPoint(tempPoint); this.set(tempPoint); }
public void setDesiredCapturePointState(FramePoint currentDesiredCapturePointPosition, FrameVector currentDesiredCapturePointVelocity) { desiredCapturePointPosition.set(currentDesiredCapturePointPosition); desiredCapturePointVelocity.set(currentDesiredCapturePointVelocity); }
public void setDesiredCapturePointState(YoFramePoint currentDesiredCapturePointPosition, YoFrameVector currentDesiredCapturePointVelocity) { desiredCapturePointPosition.set(currentDesiredCapturePointPosition); desiredCapturePointVelocity.set(currentDesiredCapturePointVelocity); }
public void initializeCoMPositionToActual(FramePoint initialCoMPosition) { initializeToActual = true; centerOfMassPosition.set(initialCoMPosition); yoCenterOfMassPosition.set(initialCoMPosition); }
public void set(FramePoint framePoint, FrameOrientation frameOrientation) { boolean notifyListeners = true; position.set(framePoint, notifyListeners); orientation.set(frameOrientation, notifyListeners); }
public void setConstantPose(FramePoint constantPosition, FrameOrientation constantOrientation) { this.position.set(position); this.orientation.set(orientation); }
public void setTrajectoryParameters(double duration, FramePoint initialPosition, double intermediateZPosition, FramePoint finalPosition, FrameVector finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.intermediateZPosition.set(intermediateZPosition); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void setInitialPose(FramePose initialPose) { initialPose.changeFrame(trajectoryFrame); initialPose.getPoseIncludingFrame(initialPosition, initialOrientation); yoInitialPosition.set(initialPosition); yoInitialOrientation.set(initialOrientation); }
public void set(double time, Point3d position, Quat4d orientation, Vector3d linearVelocity, Vector3d angularVelocity) { this.time.set(time); this.position.set(position); this.orientation.set(orientation); this.linearVelocity.set(linearVelocity); this.angularVelocity.set(angularVelocity); }
public void set(double time, YoFramePoint position, YoFrameQuaternion orientation, YoFrameVector linearVelocity, YoFrameVector angularVelocity) { this.time.set(time); this.position.set(position); this.orientation.set(orientation); this.linearVelocity.set(linearVelocity); this.angularVelocity.set(angularVelocity); }
@Override public void doControl() { double mass = robot.computeCOMMomentum(tempCenterOfMassPoint, tempCenterOfMassVelocity, tempAngularMomentum); exactCenterOfMassPosition.set(tempCenterOfMassPoint); tempCenterOfMassVelocity.scale(1.0 / mass); exactCenterOfMassVelocity.set(tempCenterOfMassVelocity); exactCenterOfMassAcceleration.update(); }
public void initialize() { time.set(0.0); FramePoint positionToPack = new FramePoint(); positionProvider.getPosition(positionToPack); positionToPack.changeFrame(position.getReferenceFrame()); position.set(positionToPack); }
@Override public void update(double time) { comCalculator.compute(); centerOfMass.set(comCalculator.getCenterOfMass()); momentumCalculator.computeAndPack(momentum); momentum.getLinearPart(frameVector); linearMomentum.set(frameVector); } }
public void solve(CoMHeightPartialDerivativesData coMHeightPartialDerivativesDataToPack, boolean isInDoubleSupport) { getCenterOfMass2d(queryPoint, centerOfMassFrame); solutionPoint.set(queryPoint); solve(coMHeightPartialDerivativesDataToPack, solutionPoint, isInDoubleSupport); coMHeightPartialDerivativesDataToPack.getCoMHeight(tempFramePoint); desiredCoMPosition.set(queryPoint.getX(), queryPoint.getY(), tempFramePoint.getZ()); }
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 update() { toolBody.getInertia().setMass(objectMass.getDoubleValue()); temporaryPoint.setIncludingFrame(objectCenterOfMass.getFrameTuple()); temporaryPoint.changeFrame(elevatorFrame); toolFrame.setPositionAndUpdate(temporaryPoint); // Visualization toolFramePoint.setToZero(toolFrame); toolFramePoint.changeFrame(ReferenceFrame.getWorldFrame()); objectCenterOfMassInWorld.set(toolFramePoint); }