@Before public void setUp() { referenceFrame = ReferenceFrame.constructARootFrame("rootFrameTEST"); orientation = new FrameQuaternion(referenceFrame); trajectoryTimeProvider = new SettableDoubleProvider(trajectoryTime); initialOrientationProvider = new ConstantOrientationProvider(orientation); finalOrientationProvider = new ConstantOrientationProvider(orientation); parentRegistry = new YoVariableRegistry("registry"); }
@Before public void setUp() { referenceFrame = ReferenceFrame.constructARootFrame("rootFrame!"); frameOrientation = new FrameQuaternion(referenceFrame); orientationProvider = new ConstantOrientationProvider(frameOrientation); }
@Before public void setUp() { referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); orientation = new FrameQuaternion(referenceFrame); orientationProvider = new ConstantOrientationProvider(orientation); parentRegistry = new YoVariableRegistry("parentRegistryTEST"); }
@Before public void setUp() { parentRegistry = new YoVariableRegistry("parentRegistryTEST"); referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); orientation = new FrameQuaternion(referenceFrame); positionTrajectoryGenerator = new ConstantPoseTrajectoryGenerator("positionTGenPrefix", referenceFrame, parentRegistry); orientationProvider = new ConstantOrientationProvider(orientation); orientationTrajectoryGenerator = new ConstantOrientationTrajectoryGenerator("orientationPrefix", referenceFrame, orientationProvider, finalTime, parentRegistry); }
@Before public void setUp() { worldFrame = ReferenceFrame.getWorldFrame(); registry = new YoVariableRegistry("reg"); FramePose3D initialPose = EuclidFrameRandomTools.nextFramePose3D(random, worldFrame, 1.0, 1.0, 1.0); FrameQuaternion initialOrientation = new FrameQuaternion(initialPose.getOrientation()); initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); trajectoryTimeProvider = new ConstantDoubleProvider(1.0); trajectoryGenerator = new CirclePoseTrajectoryGenerator("test", worldFrame, trajectoryTimeProvider, registry, null); trajectoryGenerator.setDesiredRotationAngle(Math.PI); trajectoryGenerator.setInitialPose(initialPose); trajectoryGenerator.initialize(); }
OrientationProvider initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); FrameQuaternion finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame); OrientationProvider finalOrientationProvider = new ConstantOrientationProvider(finalOrientation); initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, frameA); finalOrientationProvider = new ConstantOrientationProvider(finalOrientation);
OrientationProvider initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); FrameQuaternion finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame); OrientationProvider finalOrientationProvider = new ConstantOrientationProvider(finalOrientation);
OrientationProvider initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); FrameQuaternion finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame); OrientationProvider finalOrientationProvider = new ConstantOrientationProvider(finalOrientation); initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, frameA); finalOrientationProvider = new ConstantOrientationProvider(finalOrientation);
OrientationProvider initialOrientationProvider = new ConstantOrientationProvider(initialOrientation); FrameQuaternion finalOrientation = EuclidFrameRandomTools.nextFrameQuaternion(random, worldFrame); OrientationProvider finalOrientationProvider = new ConstantOrientationProvider(finalOrientation);