@Override public void setOrientation(Quat4d orientation) { this.orientation.set(orientation); }
public void setOrientation(FrameOrientation frameOrientation) { boolean notifyListeners = true; orientation.set(frameOrientation, notifyListeners); }
@Override public void setOrientation(Quat4d orientation) { this.orientation.set(orientation); }
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 setInitialOrientation(YoFrameQuaternion initialOrientation) { initialOrientation.getFrameOrientationIncludingFrame(tempOrientation); tempOrientation.changeFrame(trajectoryFrame); this.initialOrientation.set(tempOrientation); }
public void setFinalOrientation(FramePose finalPose) { finalPose.getOrientationIncludingFrame(tempOrientation); tempOrientation.changeFrame(trajectoryFrame); this.finalOrientation.set(tempOrientation); }
public void set(double time, Quat4d orientation, Vector3d angularVelocity) { this.time.set(time); this.orientation.set(orientation); this.angularVelocity.set(angularVelocity); }
@Override protected void getYoValuesFromFrameWaypoint() { SO3Waypoint simpleWaypoint = frameWaypoint.getGeometryObject(); orientation.set(simpleWaypoint.getOrientation()); angularVelocity.set(simpleWaypoint.getAngularVelocity()); } }
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); }
private void updateInitialOrientation() { initialOrientationProvider.getOrientation(tempInitialOrientation); tempInitialOrientation.changeFrame(initialOrientation.getReferenceFrame()); initialOrientation.set(tempInitialOrientation); initialOrientation.checkQuaternionIsUnitMagnitude(); }
public void setTrajectoryParameters(YoFrameSO3TrajectoryPoint initialYoFrameSO3Waypoint, YoFrameSO3TrajectoryPoint finalYoFrameSO3Waypoint) { setTrajectoryTime(finalYoFrameSO3Waypoint.getTime() - initialYoFrameSO3Waypoint.getTime()); initialOrientation.set(initialYoFrameSO3Waypoint.getOrientation()); initialAngularVelocity.set(initialYoFrameSO3Waypoint.getAngularVelocity()); finalOrientation.set(finalYoFrameSO3Waypoint.getOrientation()); finalAngularVelocity.set(finalYoFrameSO3Waypoint.getAngularVelocity()); }
public void setInitialPoseToMatchReferenceFrame(ReferenceFrame referenceFrame) { initialPosition.setToZero(referenceFrame); initialOrientation.setToZero(referenceFrame); initialPosition.changeFrame(trajectoryFrame); initialOrientation.changeFrame(trajectoryFrame); yoInitialPosition.set(initialPosition); yoInitialOrientation.set(initialOrientation); }
public void set(FramePose framePose, boolean notifyListeners) { framePose.checkReferenceFrameMatch(getReferenceFrame()); framePose.getPositionIncludingFrame(tempFramePoint); framePose.getOrientationIncludingFrame(tempFrameOrientation); position.set(tempFramePoint, notifyListeners); orientation.set(tempFrameOrientation, notifyListeners); }
@Override protected void getYoValuesFromFrameWaypoint() { SimpleSO3TrajectoryPoint simpleTrajectoryPoint = frameWaypoint.getGeometryObject(); SO3Waypoint so3Waypoint = simpleTrajectoryPoint.getSO3Waypoint(); time.set(simpleTrajectoryPoint.getTime()); orientation.set(so3Waypoint.getOrientation()); angularVelocity.set(so3Waypoint.getAngularVelocity()); }
@Override public void initialize() { currentTime.set(0.0); MathTools.checkIfInRange(trajectoryTime.getDoubleValue(), 0.0, Double.POSITIVE_INFINITY); parameterPolynomial.setQuintic(0.0, trajectoryTime.getDoubleValue(), 0.0, 0.0, 0.0, 1.0, 0.0, 0.0); currentOrientation.set(initialOrientation); currentAngularVelocity.setToZero(); currentAngularAcceleration.setToZero(); }
public void setPose(RigidBodyTransform rigidBodyTransform, boolean notifyListeners) { rigidBodyTransform.getTranslation(tempFramePoint.getGeometryObject()); rigidBodyTransform.getRotation(tempFrameOrientation.getGeometryObject()); position.set(tempFramePoint.getGeometryObject()); orientation.set(tempFrameOrientation.getGeometryObject()); }
public void setConstantPose(FramePose constantPose) { position.checkReferenceFrameMatch(constantPose); position.set(constantPose.getX(), constantPose.getY(), constantPose.getZ()); orientation.set(constantPose.getYaw(), constantPose.getPitch(), constantPose.getRoll()); }
@Override protected void getYoValuesFromFrameWaypoint() { SE3Waypoint simpleWaypoint = frameWaypoint.getGeometryObject(); EuclideanWaypoint euclideanWaypoint = simpleWaypoint.getEuclideanWaypoint(); SO3Waypoint so3Waypoint = simpleWaypoint.getSO3Waypoint(); position.set(euclideanWaypoint.getPosition()); orientation.set(so3Waypoint.getOrientation()); linearVelocity.set(euclideanWaypoint.getLinearVelocity()); angularVelocity.set(so3Waypoint.getAngularVelocity()); } }