public FiniteDifferenceAngularVelocityYoFrameVector(String namePrefix, YoFrameQuaternion orientationToDifferentiate, double dt, YoVariableRegistry registry) { this(namePrefix, orientationToDifferentiate, orientationToDifferentiate.getReferenceFrame(), dt, registry); }
public ReferenceFrame getReferenceFrame() { return orientation.getReferenceFrame(); } }
public AlphaFilteredYoFrameQuaternion(String namePrefix, String nameSuffix, YoFrameQuaternion unfilteredQuaternion, DoubleYoVariable alpha, YoVariableRegistry registry) { this(namePrefix, nameSuffix, unfilteredQuaternion, alpha, unfilteredQuaternion.getReferenceFrame(), registry); }
public void getAngularAcceleration(FrameVector angularAccelerationToPack) { angularAccelerationToPack.setToZero(orientation.getReferenceFrame()); }
public void getAngularVelocity(FrameVector angularVelocityToPack) { angularVelocityToPack.setToZero(orientation.getReferenceFrame()); }
public void getAngularVelocity(FrameVector angularVelocityToPack) { angularVelocityToPack.setToZero(orientation.getReferenceFrame()); }
public void getAngularAcceleration(FrameVector angularAccelerationToPack) { angularAccelerationToPack.setToZero(orientation.getReferenceFrame()); }
public void setToZero() { frameOrientation.setToZero(getReferenceFrame()); getYoValuesFromFrameOrientation(); }
public void setAndMatchFrame(FrameOrientation frameOrientation, boolean notifyListeners) { this.frameOrientation.setIncludingFrame(frameOrientation); this.frameOrientation.changeFrame(getReferenceFrame()); getYoValuesFromFrameOrientation(notifyListeners); }
/** * Sets the orientation of this to the origin of the passed in ReferenceFrame. * * @param referenceFrame */ public void setFromReferenceFrame(ReferenceFrame referenceFrame, boolean notifyListeners) { frameOrientation.setToZero(referenceFrame); frameOrientation.changeFrame(getReferenceFrame()); getYoValuesFromFrameOrientation(notifyListeners); }
private void updateFinalOrientation() { finalOrientationProvider.getOrientation(tempFinalOrientation); tempFinalOrientation.changeFrame(finalOrientation.getReferenceFrame()); finalOrientation.set(tempFinalOrientation); finalOrientation.checkQuaternionIsUnitMagnitude(); }
/** * toString * * String representation of a FrameVector (qx, qy, qz, qs)-reference frame name * * @return String */ @Override public String toString() { return "(" + qx.getDoubleValue() + ", " + qy.getDoubleValue() + ", " + qz.getDoubleValue() + ", " + qs.getDoubleValue() + ")-" + getReferenceFrame(); }
private void updateInitialOrientation() { initialOrientationProvider.getOrientation(tempInitialOrientation); tempInitialOrientation.changeFrame(initialOrientation.getReferenceFrame()); initialOrientation.set(tempInitialOrientation); initialOrientation.checkQuaternionIsUnitMagnitude(); }
private void putYoValuesIntoFrameOrientation() { frameOrientation.setIncludingFrame(getReferenceFrame(), qx.getDoubleValue(), qy.getDoubleValue(), qz.getDoubleValue(), qs.getDoubleValue()); }
public void initialize() { time.set(0.0); FrameOrientation orientationToPack = new FrameOrientation(ReferenceFrame.getWorldFrame()); orientationProvider.getOrientation(orientationToPack); orientationToPack.changeFrame(orientation.getReferenceFrame()); orientation.set(orientationToPack); }
public void setPose(FramePose pose) { pose.getPositionIncludingFrame(tempPoint); tempPoint.changeFrame(this.position.getReferenceFrame()); this.position.set(tempPoint); pose.getOrientationIncludingFrame(tempOrientation); tempOrientation.changeFrame(this.orientation.getReferenceFrame()); this.orientation.set(tempOrientation); } }
public void prepareForLocomotion() { desiredPelvisOrientationWithOffset.getFrameOrientationIncludingFrame(tempOrientation); tempOrientation.changeFrame(initialPelvisOrientation.getReferenceFrame()); initialPelvisOrientation.set(tempOrientation); finalPelvisOrientation.set(tempOrientation); desiredPelvisOrientation.set(tempOrientation); resetOrientationOffset(); initialize(worldFrame); }