本文整理了Java中us.ihmc.robotics.math.frames.YoMultipleFramesHelper.switchCurrentReferenceFrame()方法的一些代码示例，展示了YoMultipleFramesHelper.switchCurrentReferenceFrame()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。YoMultipleFramesHelper.switchCurrentReferenceFrame()方法的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoMultipleFramesHelper
类名称：YoMultipleFramesHelper
方法名：switchCurrentReferenceFrame

YoMultipleFramesHelper.switchCurrentReferenceFrame介绍

[英]Change the current reference frame for another one that has already been registered.
[中]将当前参照系更改为另一个已注册的参照系。

代码示例

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

/**
* 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);
 setYawPitchRoll(0.0, 0.0, 0.0);
 return previousReferenceFrame;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

/**
* 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;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
  public void setToNaN(ReferenceFrame desiredReferenceFrame)
  {
   setToNaN();
   multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame);
  }
}

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

@Override
  public void setToNaN(ReferenceFrame desiredReferenceFrame)
  {
   setToNaN();
   multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame);
  }
}

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

/**
* 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;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
  public void setToNaN(ReferenceFrame desiredReferenceFrame)
  {
   setToNaN();
   multipleFramesHelper.switchCurrentReferenceFrame(desiredReferenceFrame);
  }
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public final ReferenceFrame switchCurrentReferenceFrame(ReferenceFrame newCurrentReferenceFrame)
{
 ReferenceFrame previousReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(newCurrentReferenceFrame);
 setToZero();
 return previousReferenceFrame;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

/**
* 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;
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void setToZero(ReferenceFrame referenceFrame)
{
 multipleFramesHelper.switchCurrentReferenceFrame(referenceFrame);
 frameWaypoint.setToZero(referenceFrame);
 getYoValuesFromFrameWaypoint();
}

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

public void setIncludingFrame(FrameTuple3DReadOnly frameTuple)
{
 multipleFramesHelper.switchCurrentReferenceFrame(frameTuple.getReferenceFrame());
 set(frameTuple);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void setXYIncludingFrame(YoFrameTuple2d<?, ?> yoFrameTuple2d)
{
 multipleFramesHelper.switchCurrentReferenceFrame(yoFrameTuple2d.getReferenceFrame());
 setXY(yoFrameTuple2d);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void setIncludingFrame(FrameTuple<?, ?> frameTuple)
{
 multipleFramesHelper.switchCurrentReferenceFrame(frameTuple.getReferenceFrame());
 set(frameTuple);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void setIncludingFrame(FrameTuple2d<?, ?> frameTuple2d)
{
 multipleFramesHelper.switchCurrentReferenceFrame(frameTuple2d.getReferenceFrame());
 set(frameTuple2d);
}

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

public void setIncludingFrame(ReferenceFrame referenceFrame, S simpleWaypoint)
{
 multipleFramesHelper.switchCurrentReferenceFrame(referenceFrame);
 frameWaypoint.setIncludingFrame(getReferenceFrame(), simpleWaypoint);
 getYoValuesFromFrameWaypoint();
}

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

public void setIncludingFrame(F frameWaypoint)
{
 multipleFramesHelper.switchCurrentReferenceFrame(frameWaypoint.getReferenceFrame());
 this.frameWaypoint.setIncludingFrame(frameWaypoint);
 getYoValuesFromFrameWaypoint();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void setIncludingFrame(Y other)
{
 multipleFramesHelper.switchCurrentReferenceFrame(other.getReferenceFrame());
 other.getIncludingFrame(frameWaypoint);
 getYoValuesFromFrameWaypoint();
}

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

public void setIncludingFrame(Y other)
{
 multipleFramesHelper.switchCurrentReferenceFrame(other.getReferenceFrame());
 other.getIncludingFrame(frameWaypoint);
 getYoValuesFromFrameWaypoint();
}

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

@Override
public void changeFrame(ReferenceFrame desiredFrame)
{
 getQuaternion(quaternion);
 ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame);
 frameOrientation.setIncludingFrame(currentReferenceFrame, quaternion);
 frameOrientation.changeFrame(desiredFrame);
 quaternion.set(frameOrientation);
 set(quaternion);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public void changeFrame(ReferenceFrame desiredFrame)
{
 get(point);
 ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame);
 framePoint.setIncludingFrame(currentReferenceFrame, point);
 framePoint.changeFrame(desiredFrame);
 framePoint.get(point);
 set(point);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

@Override
public void changeFrame(ReferenceFrame desiredFrame)
{
 get(vector);
 ReferenceFrame currentReferenceFrame = multipleFramesHelper.switchCurrentReferenceFrame(desiredFrame);
 frameVector.setIncludingFrame(currentReferenceFrame, vector);
 frameVector.changeFrame(desiredFrame);
 frameVector.get(vector);
 set(vector);
}