us.ihmc.euclid.tuple4D.Quaternion.<init>()方法的使用及代码示例

x33g5p2x  于2022-01-28 转载在 其他  
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本文整理了Java中us.ihmc.euclid.tuple4D.Quaternion.<init>方法的一些代码示例，展示了Quaternion.<init>的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。Quaternion.<init>方法的具体详情如下：
包路径：us.ihmc.euclid.tuple4D.Quaternion
类名称：Quaternion
方法名：<init>

Quaternion.<init>介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public Quaternion getOrientationCopy()
{
 Quaternion orientationCopy = new Quaternion();
 getOrientation(orientationCopy);
 return orientationCopy;
}

代码示例来源：origin: us.ihmc/ihmc-interfaces

public SO3TrajectoryPointMessage()
{
 orientation_ = new us.ihmc.euclid.tuple4D.Quaternion();
 angular_velocity_ = new us.ihmc.euclid.tuple3D.Vector3D();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public static Quaternion nextQuaternion(Random random, double minMaxAngleRange)
{
 AxisAngle orientation = nextAxisAngle(random, minMaxAngleRange);
 Quaternion quat = new Quaternion();
 quat.set(orientation);
 return quat;
}

代码示例来源：origin: us.ihmc/ihmc-interfaces

public KinematicsToolboxOutputStatus()
{
 desired_joint_angles_ = new us.ihmc.idl.IDLSequence.Float (100, "type_5");
 desired_root_translation_ = new us.ihmc.euclid.tuple3D.Vector3D();
 desired_root_orientation_ = new us.ihmc.euclid.tuple4D.Quaternion();
}

代码示例来源：origin: us.ihmc/ros2-common-interfaces

public InteractiveMarkerControl()
{
 name_ = new java.lang.StringBuilder(255);
 orientation_ = new us.ihmc.euclid.tuple4D.Quaternion();
 markers_ = new us.ihmc.idl.IDLSequence.Object<visualization_msgs.msg.dds.Marker> (100, new visualization_msgs.msg.dds.MarkerPubSubType());
 description_ = new java.lang.StringBuilder(255);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private PelvisOrientationTrajectoryMessage createPelvisOrientationTrajectoryMessage(Vector3D rotationAxis, double rotationAngle)
{
 AxisAngle desiredPelvisAxisAngle = new AxisAngle(rotationAxis, rotationAngle);
 Quaternion desiredPelvisQuat = new Quaternion();
 desiredPelvisQuat.set(desiredPelvisAxisAngle);
 PelvisOrientationTrajectoryMessage pelvisOrientationTrajectoryMessage = HumanoidMessageTools.createPelvisOrientationTrajectoryMessage(3.0,
                                                                    desiredPelvisQuat);
 return pelvisOrientationTrajectoryMessage;
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

public TestingEnvironment()
{
  terrain = new CombinedTerrainObject3D(getClass().getSimpleName());
  terrain.addBox(-0.2, -0.225, 3.2, 0.225, -0.1, 0.0);
  terrain.addBox(0.15, 0.05, 0.45, 0.25, 0.15);
  terrain.addBox(0.6, -0.05, 0.775, -0.25, 0.08);
  terrain.addCylinder(new RigidBodyTransform(new Quaternion(0.0, 0.0, 0.0, 1.0), new Point3D(1.5, 0.15, 0.1)), 0.2, 0.15, YoAppearance.Grey());
  terrain.addCylinder(new RigidBodyTransform(new Quaternion(0.0, 0.0, 0.0, 1.0), new Point3D(1.8, -0.15, 0.1)), 0.2, 0.025, YoAppearance.Grey());
  terrain.addBox(1.96, 0.125, 1.99, 0.0, 0.2);
  terrain.addBox(2.235, 0.175, 2.265, 0.25, 0.2);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

private static double getAngleDifference(Quaternion q1, Quaternion q2)
  {
   Quaternion qDifference = new Quaternion(q1);
   qDifference.multiplyConjugateOther(q2);
   AxisAngle axisAngle = new AxisAngle();
   axisAngle.set(qDifference);
   return axisAngle.getAngle();
  }
}

代码示例来源：origin: us.ihmc/ihmc-jmonkey-engine-toolkit

@Override
protected void doRotateInstruction(Graphics3DRotateInstruction graphics3dObjectRotateMatrix)
{
 QuaternionBasics quat4d = new us.ihmc.euclid.tuple4D.Quaternion(graphics3dObjectRotateMatrix.getRotationMatrix());
 // DON'T USE THIS: the method in Quat4d is flawed and doesn't work for some rotation matrices!
 //      quat4d.set(graphics3dObjectRotateMatrix.getRotationMatrix());
 Quaternion quaternion = new Quaternion();
 JMEDataTypeUtils.packVectMathQuat4dInJMEQuaternion(quat4d, quaternion);
 rotate(quaternion);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private boolean isOrientationEqual(QuaternionReadOnly initialQuat, QuaternionReadOnly finalQuat, double angleEpsilon)
{
 Quaternion quatDifference = new Quaternion(initialQuat);
 quatDifference.multiplyConjugateOther(finalQuat);
 AxisAngle angleDifference = new AxisAngle();
 angleDifference.set(quatDifference);
 AngleTools.trimAngleMinusPiToPi(angleDifference.getAngle());
 return Math.abs(angleDifference.getAngle()) < angleEpsilon;
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-robotics

public static WallPosePacket createWallPosePacket(double cuttingRadius, Tuple3DReadOnly centerPosition, RotationMatrixReadOnly rotationMatrix)
{
 WallPosePacket message = new WallPosePacket();
 message.setCuttingRadius(cuttingRadius);
 message.getCenterPosition().set(centerPosition);
 message.getCenterOrientation().set(new Quaternion(rotationMatrix));
 return message;
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

private void submitFootPose(RobotSide robotSide, FramePose3D desiredFootPose)
{
 desiredFootPose.changeFrame(worldFrame);
 Point3D desiredFootPosition = new Point3D();
 Quaternion desiredFootOrientation = new Quaternion();
 desiredFootPose.get(desiredFootPosition, desiredFootOrientation);
 FootTrajectoryTask task = new FootTrajectoryTask(robotSide, desiredFootPosition, desiredFootOrientation, footTrajectoryBehavior,
                          trajectoryTime.getDoubleValue());
 pipeLine.submitSingleTaskStage(task);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private Footstep generateFootstep(FramePose2D footPose2d, RigidBodyBasics foot, ReferenceFrame soleFrame, RobotSide robotSide, double height, Vector3D planeNormal)
{
 double yaw = footPose2d.getYaw();
 Point3D position = new Point3D(footPose2d.getX(), footPose2d.getY(), height);
 Quaternion orientation = new Quaternion();
 RotationTools.computeQuaternionFromYawAndZNormal(yaw, planeNormal, orientation);
 FramePose3D footstepPose = new FramePose3D(ReferenceFrame.getWorldFrame(), position, orientation);
 Footstep footstep = new Footstep(robotSide, footstepPose);
 return footstep;
}

代码示例来源：origin: us.ihmc/ihmc-jmonkey-engine-toolkit

public QuaternionBasics getCameraRotation()
{
 Quaternion quat = new Quaternion(getRotation());
 JMEGeometryUtils.transformFromJMECoordinatesToZup(quat);
 quat.multLocal(convertLookingForwardToLookingUp);
 return new us.ihmc.euclid.tuple4D.Quaternion(quat.getX(), quat.getY(), quat.getZ(), quat.getW());
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-robotics

public void computeChestTrajectoryMessage()
{
 checkIfDataHasBeenSet();
 ReferenceFrame chestFrame = fullRobotModelToUseForConversion.getChest().getBodyFixedFrame();
 Quaternion desiredQuaternion = new Quaternion();
 FrameQuaternion desiredOrientation = new FrameQuaternion(chestFrame);
 desiredOrientation.changeFrame(worldFrame);
 desiredQuaternion.set(desiredOrientation);
 ReferenceFrame pelvisZUpFrame = referenceFrames.getPelvisZUpFrame();
 ChestTrajectoryMessage chestTrajectoryMessage = HumanoidMessageTools.createChestTrajectoryMessage(trajectoryTime, desiredQuaternion, worldFrame, pelvisZUpFrame);
 output.getChestTrajectoryMessage().set(chestTrajectoryMessage);
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-robotics

public void computePelvisTrajectoryMessage()
{
 checkIfDataHasBeenSet();
 Point3D desiredPosition = new Point3D();
 Quaternion desiredOrientation = new Quaternion();
 ReferenceFrame pelvisFrame = fullRobotModelToUseForConversion.getRootJoint().getFrameAfterJoint();
 FramePose3D desiredPelvisPose = new FramePose3D(pelvisFrame);
 desiredPelvisPose.changeFrame(worldFrame);
 desiredPelvisPose.get(desiredPosition, desiredOrientation);
 PelvisTrajectoryMessage pelvisTrajectoryMessage = HumanoidMessageTools.createPelvisTrajectoryMessage(trajectoryTime, desiredPosition, desiredOrientation);
 output.getPelvisTrajectoryMessage().set(pelvisTrajectoryMessage);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private ChestTrajectoryMessage createRandomChestMessage(double trajectoryTime, Random random)
{
 OneDoFJointBasics[] spineClone = MultiBodySystemFactories.cloneOneDoFJointKinematicChain(pelvis, chest);
 MultiBodySystemRandomTools.nextStateWithinJointLimits(random, JointStateType.CONFIGURATION, spineClone);
 RigidBodyBasics chestClone = spineClone[spineClone.length - 1].getSuccessor();
 FrameQuaternion desiredRandomChestOrientation = new FrameQuaternion(chestClone.getBodyFixedFrame());
 desiredRandomChestOrientation.changeFrame(ReferenceFrame.getWorldFrame());
 Quaternion desiredOrientation = new Quaternion(desiredRandomChestOrientation);
 return HumanoidMessageTools.createChestTrajectoryMessage(trajectoryTime, desiredOrientation, ReferenceFrame.getWorldFrame(), ReferenceFrame.getWorldFrame());
}

代码示例来源：origin: us.ihmc/ihmc-jmonkey-engine-toolkit

public static RigidBodyTransform jmeTransformToTransform3D(Transform jmeTransform)
  {
   Quaternion jmeQuat = jmeTransform.getRotation();
   Vector3f jmeVect = jmeTransform.getTranslation();
   us.ihmc.euclid.tuple4D.Quaternion quat = new us.ihmc.euclid.tuple4D.Quaternion(jmeQuat.getX(), jmeQuat.getY(), jmeQuat.getZ(), jmeQuat.getW());
   Vector3D vect = new Vector3D(jmeVect.getX(), jmeVect.getY(), jmeVect.getZ());
   RigidBodyTransform ret = new RigidBodyTransform(quat, vect);

   return ret;
  }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

public static Quaternion findQuat4d(String nameSpace, String prefix, String suffix, SimulationConstructionSet scs)
{
 double x = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQxName(prefix, suffix)).getValueAsDouble();
 double y = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQyName(prefix, suffix)).getValueAsDouble();
 double z = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQzName(prefix, suffix)).getValueAsDouble();
 double s = scs.getVariable(nameSpace, YoFrameVariableNameTools.createQsName(prefix, suffix)).getValueAsDouble();
 return new Quaternion(x, y, z, s);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void executeMessage(ChestTrajectoryMessage message, RigidBodyBasics chest) throws SimulationExceededMaximumTimeException
{
 double controllerDT = getRobotModel().getControllerDT();
 drcSimulationTestHelper.publishToController(message);
 double trajectoryTime = message.getSo3Trajectory().getTaskspaceTrajectoryPoints().getLast().getTime();
 assertTrue(drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(trajectoryTime + 5.0 * controllerDT));
 Quaternion desired = new Quaternion(message.getSo3Trajectory().getTaskspaceTrajectoryPoints().getLast().getOrientation());
 assertChestDesired(drcSimulationTestHelper.getSimulationConstructionSet(), desired, chest);
}

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