@Before public void setUp() { parentRegistry = new YoVariableRegistry("parentRegistryTEST"); referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); position = new FramePoint3D(referenceFrame, xValue, yValue, zValue); initialPositionProvider = new ConstantPositionProvider(position); finalPositionProvider = new ConstantPositionProvider(position); trajectoryTimeProvider = new ConstantDoubleProvider(10.0); }
@Before public void setUp() { parentRegistry = new YoVariableRegistry("parentRegistryTEST"); referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); position = new FramePoint3D(referenceFrame, xValue, yValue, zValue); positionTrajectoryGenerators = new ArrayList<PositionTrajectoryGenerator>(); positionProvider = new ConstantPositionProvider(position); positionTrajectoryGenerators.add(new ConstantPositionTrajectoryGenerator(namePrefix, referenceFrame, positionProvider, finalTime, parentRegistry)); }
@Before public void setUp() { referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); position = new FramePoint3D(referenceFrame, xValue, yValue, zValue); positionProvider = new ConstantPositionProvider(position); parentRegistry = new YoVariableRegistry("registry"); }
@Before public void setUp() { parentRegistry = new YoVariableRegistry("parentRegistryTEST"); referenceFrame = ReferenceFrame.constructARootFrame("rootNameTEST"); position = new FramePoint3D(referenceFrame, xValue, yValue, zValue); positionProvider = new ConstantPositionProvider(position); positionTrajectoryInput = new ConstantPositionTrajectoryGenerator(namePrefix, referenceFrame, positionProvider, finalTime, parentRegistry); }
private CirclePositionTrajectoryGenerator createTrajectory(ReferenceFrame referenceFrame, FramePoint3D offset, double rotationAngle, double trajectoryTime) { PositionProvider initialPositionProvider = new ConstantPositionProvider(offset); DoubleProvider desiredRotationAngleProvider = new ConstantDoubleProvider(rotationAngle); YoVariableRegistry parentRegistry = new YoVariableRegistry("CirclePositionTrajectoryGeneratorTest"); return new CirclePositionTrajectoryGenerator("", referenceFrame, new ConstantDoubleProvider(trajectoryTime), initialPositionProvider, parentRegistry, desiredRotationAngleProvider); } }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void test() { Random random = new Random(); ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame(); double[] xyz = RandomNumbers.nextDoubleArray(random, 3, Double.MAX_VALUE); FramePoint3D positionExpected = new FramePoint3D(worldFrame, xyz); FramePoint3D positionActual = new FramePoint3D(positionExpected); ConstantPositionProvider constantPositionProvider = new ConstantPositionProvider(positionActual); constantPositionProvider.getPosition(positionActual); assertTrue(positionActual.epsilonEquals(positionExpected, EPS)); }
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint3D(worldFrame, 1.0, 0.0, 1.0)); PositionProvider finalPositionProvider = new ConstantPositionProvider(new FramePoint3D(worldFrame, 0.2, 1.0, 0.4)); simpleTrajectory = new StraightLinePositionTrajectoryGenerator("simpleTraj", worldFrame, trajectoryTimeProvider, initialPositionProvider, finalPositionProvider, registry); simpleTrajectory.initialize();
PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint3D(worldFrame, new double[] {-0.1, 2.3, 0.0})); VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector3D(worldFrame, new double[] {0.2, 0.0, -0.05}));
PositionProvider initialPositionProvider = new ConstantPositionProvider(initialPosition); FramePoint3D finalPosition = EuclidFrameRandomTools.nextFramePoint3D(random, worldFrame, 100.0, 100.0, 100.0); PositionProvider finalPositionProvider = new ConstantPositionProvider(finalPosition); initialPositionProvider = new ConstantPositionProvider(initialPosition); finalPosition = EuclidFrameRandomTools.nextFramePoint3D(random, frameA, 100.0, 100.0, 100.0); finalPositionProvider = new ConstantPositionProvider(finalPosition);
PositionProvider initialPositionProvider = new ConstantPositionProvider(initialPosition); FramePoint3D finalPosition = EuclidFrameRandomTools.nextFramePoint3D(random, worldFrame, 100.0, 100.0, 100.0); PositionProvider finalPositionProvider = new ConstantPositionProvider(finalPosition);
stepTimeProvider.set(0.8); YoVariableDoubleProvider timeRemainingProvider = new YoVariableDoubleProvider("", new YoVariableRegistry("")); PositionProvider initialPositionProvider = new ConstantPositionProvider(new FramePoint3D(worldFrame, new double[] {-0.1, 2.3, 0.0})); VectorProvider initialVelocityProvider = new ConstantVectorProvider(new FrameVector3D(worldFrame, new double[] {0.2, 0.0, -0.05})); trajectory.getVelocity(intermediateVelocity); PositionProvider intermediatePositionProvider = new ConstantPositionProvider(intermediatePosition); VectorProvider intermediateVelocityProvider = new ConstantVectorProvider(intermediateVelocity);