public void getOrientation(FrameOrientation orientationToPack) { orientationProvider.getOrientation(orientationToPack); }
public void getOrientation(FrameQuaternion orientationToPack) { orientationProvider.getOrientation(orientationToPack); }
public void getOrientation(FrameQuaternion orientationToPack) { orientationProvider.getOrientation(orientationToPack); orientationToPack.changeFrame(referenceFrame); }
public void getOrientation(FrameOrientation orientationToPack) { orientationProvider.getOrientation(orientationToPack); orientationToPack.changeFrame(referenceFrame); }
private void updateInitialOrientation() { initialOrientationProvider.getOrientation(tempInitialOrientation); tempInitialOrientation.changeFrame(initialOrientation.getReferenceFrame()); initialOrientation.set(tempInitialOrientation); initialOrientation.checkQuaternionIsUnitMagnitude(); }
private void updateFinalOrientation() { finalOrientationProvider.getOrientation(tempFinalOrientation); tempFinalOrientation.changeFrame(finalOrientation.getReferenceFrame()); finalOrientation.set(tempFinalOrientation); finalOrientation.checkQuaternionIsUnitMagnitude(); }
private void updateInitialOrientation() { initialOrientationProvider.getOrientation(tempInitialOrientation); tempInitialOrientation.changeFrame(initialOrientation.getReferenceFrame()); initialOrientation.set(tempInitialOrientation); initialOrientation.checkIfUnitary(); }
private void updateFinalOrientation() { finalOrientationProvider.getOrientation(tempFinalOrientation); tempFinalOrientation.changeFrame(finalOrientation.getReferenceFrame()); finalOrientation.set(tempFinalOrientation); finalOrientation.checkIfUnitary(); }
public void initialize() { time.set(0.0); FrameQuaternion orientationToPack = new FrameQuaternion(ReferenceFrame.getWorldFrame()); orientationProvider.getOrientation(orientationToPack); orientationToPack.changeFrame(orientation.getReferenceFrame()); orientation.set(orientationToPack); }
public void initialize() { time.set(0.0); FrameOrientation orientationToPack = new FrameOrientation(ReferenceFrame.getWorldFrame()); orientationProvider.getOrientation(orientationToPack); orientationToPack.changeFrame(orientation.getReferenceFrame()); orientation.set(orientationToPack); }
private void checkOrientationAtVariousPoints(CirclePoseTrajectoryGenerator trajectoryGenerator, OrientationProvider initialOrientationProvider, double tMax, ReferenceFrame frame) { FrameQuaternion orientation = new FrameQuaternion(frame); trajectoryGenerator.compute(0.0); trajectoryGenerator.getOrientation(orientation); FrameQuaternion initialOrientation = new FrameQuaternion(frame); initialOrientationProvider.getOrientation(initialOrientation); EuclidFrameTestTools.assertFrameQuaternionGeometricallyEquals(initialOrientation, orientation, 1e-12); FramePoint3D initialPosition = new FramePoint3D(frame); trajectoryGenerator.getPosition(initialPosition); FramePoint3D newPosition = new FramePoint3D(frame); /* * check against rotated version of initial position */ int nTests = 10; for (int i = 1; i < nTests; i++) { double t = i * (tMax / nTests); trajectoryGenerator.compute(t); trajectoryGenerator.getPosition(newPosition); trajectoryGenerator.getOrientation(orientation); FrameQuaternion difference = new FrameQuaternion(initialOrientation.getReferenceFrame()); difference.difference(initialOrientation, orientation); FramePoint3D rotatedInitialPosition = new FramePoint3D(initialPosition); difference.transform(rotatedInitialPosition); // JUnitTools.assertFramePointEquals(newPosition, rotatedInitialPosition, 1e-9); } }