Java MatrixYoVariableConversionTools.storeInYoVariables示例

示例#1

文件： MomentumSolver3.java 项目： wxmerkt/ihmc-open-robotics-software

  public void compute() {
    centroidalMomentumMatrix.compute();
    MatrixYoVariableConversionTools.getFromYoVariables(
        previousCentroidalMomentumMatrix, yoPreviousCentroidalMomentumMatrix);

    MatrixTools.numericallyDifferentiate(
        centroidalMomentumMatrixDerivative,
        previousCentroidalMomentumMatrix,
        centroidalMomentumMatrix.getMatrix(),
        controlDT);
    MatrixYoVariableConversionTools.storeInYoVariables(
        previousCentroidalMomentumMatrix, yoPreviousCentroidalMomentumMatrix);

    ScrewTools.packJointVelocitiesMatrix(jointsInOrder, v);
    CommonOps.mult(centroidalMomentumMatrixDerivative, v, adotV);
  }

示例#2

文件： MomentumSolver3.java 项目： wxmerkt/ihmc-open-robotics-software

 public void initialize() {
   centroidalMomentumMatrix.compute();
   previousCentroidalMomentumMatrix.set(centroidalMomentumMatrix.getMatrix());
   MatrixYoVariableConversionTools.storeInYoVariables(
       previousCentroidalMomentumMatrix, yoPreviousCentroidalMomentumMatrix);
 }