public void setDesiredCapturePointState(YoFramePoint2d currentDesiredCapturePointPosition, YoFrameVector2d currentDesiredCapturePointVelocity) { // Do not set the Z to zero! desiredCapturePointPosition.checkReferenceFrameMatch(currentDesiredCapturePointPosition); desiredCapturePointPosition.setX(currentDesiredCapturePointPosition.getX()); desiredCapturePointPosition.setY(currentDesiredCapturePointPosition.getY()); desiredCapturePointVelocity.checkReferenceFrameMatch(currentDesiredCapturePointVelocity); desiredCapturePointVelocity.setX(currentDesiredCapturePointVelocity.getX()); desiredCapturePointVelocity.setY(currentDesiredCapturePointVelocity.getY()); }
public void setFinalPoseWithoutFinalVelocity(FramePoint finalPosition, FrameOrientation finalOrientation) { this.finalPosition.set(finalPosition); this.finalOrientation.set(finalOrientation); finalPositionForViz.setAndMatchFrame(finalPosition); finalOrientationForViz.setAndMatchFrame(finalOrientation); this.finalVelocity.setToZero(); this.finalAngularVelocity.setToZero(); }
public void setIncludingFrame(YoFrameTuple<?, ?> yoFrameTuple) { multipleFramesHelper.switchCurrentReferenceFrame(yoFrameTuple.getReferenceFrame()); set(yoFrameTuple); }
public YoFramePoseUsingQuaternions(String prefix, String suffix, ReferenceFrame frame, YoVariableRegistry registry) { position = new YoFramePoint(prefix, suffix, frame, registry); orientation = new YoFrameQuaternion(prefix, suffix, frame, registry); }
public YoFramePose(String prefix, String suffix, ReferenceFrame frame, YoVariableRegistry registry) { position = new YoFramePoint(prefix, suffix, frame, registry); orientation = new YoFrameOrientation(prefix, suffix, frame, registry); }
public void add(YoFramePose yoFramePose) { getPosition().add(yoFramePose.getPosition()); getOrientation().add(yoFramePose.getOrientation()); }
public void set(YoFrameQuaternion orientation) { orientation.checkReferenceFrameMatch(getReferenceFrame()); orientation.getFrameOrientationIncludingFrame(tempFrameOrientation); set(tempFrameOrientation); }
public void setInitialPose(FramePoint initialPosition, FrameOrientation initialOrientation) { this.initialPosition.set(initialPosition); this.initialOrientation.set(initialOrientation); initialOrientationForViz.setAndMatchFrame(initialOrientation); }
public void setInitialPoseWithInitialVelocity(FramePoint initialPosition, FrameVector initialVelocity, FrameOrientation initialOrientation, FrameVector initialAngularVelocity) { this.initialPosition.set(initialPosition); this.initialVelocity.set(initialVelocity); this.initialOrientation.set(initialOrientation); this.initialAngularVelocity.set(initialAngularVelocity); }
public final void subIncludingFrame(YoFrameTuple<?, ?> yoFrameTuple1, YoFrameTuple<?, ?> yoFrameTuple2) { yoFrameTuple1.checkReferenceFrameMatch(yoFrameTuple2); multipleFramesHelper.switchCurrentReferenceFrame(yoFrameTuple1.getReferenceFrame()); sub(yoFrameTuple1, yoFrameTuple2); }
protected YoFrameWaypoint(F frameWaypoint, String namePrefix, String nameSuffix, YoVariableRegistry registry, ReferenceFrame... referenceFrames) { this.namePrefix = namePrefix; this.nameSuffix = nameSuffix; multipleFramesHelper = new YoMultipleFramesHelper(createName(namePrefix, nameSuffix, ""), registry, referenceFrames); this.frameWaypoint = frameWaypoint; }
public void setXYIncludingFrame(YoFrameTuple2d<?, ?> yoFrameTuple2d) { multipleFramesHelper.switchCurrentReferenceFrame(yoFrameTuple2d.getReferenceFrame()); setXY(yoFrameTuple2d); }
/** * Change the current reference frame and set to zero the coordinates (different from changeFrame() ). * @return the previous current reference frame. */ @Override public ReferenceFrame switchCurrentReferenceFrame(ReferenceFrame referenceFrame) { ReferenceFrame previousReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(referenceFrame); setToZero(); return previousReferenceFrame; }
@Override public void setToNaN(ReferenceFrame desiredReferenceFrame) { setToNaN(); multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame); } }
@Override public void setToNaN(ReferenceFrame desiredReferenceFrame) { setToNaN(); multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame); } }
/** * Sets this frame pose to the origin of the passed in reference frame. * * @param referenceFrame */ public void setFromReferenceFrame(ReferenceFrame referenceFrame) { position.setFromReferenceFrame(referenceFrame); orientation.setFromReferenceFrame(referenceFrame); }