@Override public void setAngularVelocity(Vector3d angularVelocity) { this.angularVelocity.set(angularVelocity); }
@Override public void setLinearVelocity(Vector3d linearVelocity) { this.linearVelocity.set(linearVelocity); }
@Override public void setAngularVelocity(Vector3d angularVelocity) { this.angularVelocity.set(angularVelocity); }
@Override public void setLinearVelocity(Vector3d linearVelocity) { this.linearVelocity.set(linearVelocity); }
public void setFinalConditions(YoFramePoint finalPosition, YoFrameVector finalVelocity) { this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void setTrajectoryParameters(double duration, FramePoint initialPosition, FrameVector initialVelocity, FramePoint finalPosition, FrameVector finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.initialVelocity.set(initialVelocity); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
public void set(double time, Point3d position, Vector3d linearVelocity) { this.time.set(time); this.position.set(position); this.linearVelocity.set(linearVelocity); }
public void set(double time, FrameOrientation orientation, FrameVector angularVelocity) { this.time.set(time); this.orientation.set(orientation); this.angularVelocity.set(angularVelocity); }
public CommonInertiaEllipsoidsVisualizer(RigidBody rootBody, YoGraphicsListRegistry yoGraphicsListRegistry) { inertiaEllipsoidGhostOffset.set(0, 0.0, 0.0); findMinimumAndMaximumMassOfRigidBodies(rootBody); addRigidBodyAndChilderenToVisualization(rootBody); yoGraphicsListRegistry.registerYoGraphics(name, yoGraphics); update(); }
private void computeAngularMomentum() { robotMomentum.setToZero(centerOfMassFrame); momentumCalculator.computeAndPack(robotMomentum); robotMomentum.getAngularPartIncludingFrame(angularMomentum); yoAngularMomentum.set(angularMomentum); filteredYoAngularMomentum.update(); }
public void getDesiredCapturePointPositionAndVelocity(YoFramePoint desiredCapturePointPositionToPack, YoFrameVector desiredCapturePointVelocityToPack, double time) { computeTimeInCurrentState(time); computeDesiredCapturePoint(timeInCurrentState.getDoubleValue()); desiredCapturePointPositionToPack.set(desiredCapturePointPosition); desiredCapturePointVelocityToPack.set(desiredCapturePointVelocity); }
@Override protected void getYoValuesFromFrameWaypoint() { EuclideanWaypoint simpleWaypoint = frameWaypoint.getGeometryObject(); position.set(simpleWaypoint.getPosition()); linearVelocity.set(simpleWaypoint.getLinearVelocity()); } }
public void setTrajectoryParameters(YoFrameEuclideanTrajectoryPoint initialYoFrameEuclideanWaypoint, YoFrameEuclideanTrajectoryPoint finalYoFrameEuclideanWaypoint) { setTrajectoryTime(finalYoFrameEuclideanWaypoint.getTime() - initialYoFrameEuclideanWaypoint.getTime()); initialPosition.set(initialYoFrameEuclideanWaypoint.getPosition()); initialVelocity.set(initialYoFrameEuclideanWaypoint.getLinearVelocity()); finalPosition.set(finalYoFrameEuclideanWaypoint.getPosition()); finalVelocity.set(finalYoFrameEuclideanWaypoint.getLinearVelocity()); }
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 setTrajectoryParameters(FrameEuclideanTrajectoryPoint initialFrameEuclideanWaypoint, FrameEuclideanTrajectoryPoint finalFrameEuclideanWaypoint) { setTrajectoryTime(finalFrameEuclideanWaypoint.getTime() - initialFrameEuclideanWaypoint.getTime()); initialFrameEuclideanWaypoint.getPositionIncludingFrame(tempPosition); initialFrameEuclideanWaypoint.getLinearVelocityIncludingFrame(tempLinearVelocity); initialPosition.set(tempPosition); initialVelocity.set(tempLinearVelocity); finalFrameEuclideanWaypoint.getPositionIncludingFrame(tempPosition); finalFrameEuclideanWaypoint.getLinearVelocityIncludingFrame(tempLinearVelocity); finalPosition.set(tempPosition); finalVelocity.set(tempLinearVelocity); }
public void setTrajectoryParameters(double duration, YoFramePoint initialPosition, DoubleYoVariable intermediateZPosition, YoFramePoint finalPosition, YoFrameVector finalVelocity) { trajectoryTime.set(duration); this.initialPosition.set(initialPosition); this.intermediateZPosition.set(intermediateZPosition.getDoubleValue()); this.finalPosition.set(finalPosition); this.finalVelocity.set(finalVelocity); }
@Override protected void getYoValuesFromFrameWaypoint() { SimpleSE3TrajectoryPoint simpleTrajectoryPoint = frameWaypoint.getGeometryObject(); EuclideanWaypoint euclideanWaypoint = simpleTrajectoryPoint.getEuclideanWaypoint(); SO3Waypoint so3Waypoint = simpleTrajectoryPoint.getSO3Waypoint(); time.set(simpleTrajectoryPoint.getTime()); position.set(euclideanWaypoint.getPosition()); orientation.set(so3Waypoint.getOrientation()); linearVelocity.set(euclideanWaypoint.getLinearVelocity()); angularVelocity.set(so3Waypoint.getAngularVelocity()); }
@Override protected void getYoValuesFromFrameWaypoint() { SimpleSO3TrajectoryPoint simpleTrajectoryPoint = frameWaypoint.getGeometryObject(); SO3Waypoint so3Waypoint = simpleTrajectoryPoint.getSO3Waypoint(); time.set(simpleTrajectoryPoint.getTime()); orientation.set(so3Waypoint.getOrientation()); angularVelocity.set(so3Waypoint.getAngularVelocity()); }