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

YoReferencePose.getTransformToDesiredFrame介绍

暂无

代码示例

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

public void interpolate(YoReferencePose start, YoReferencePose goal, double alpha)
{
 start.getTransformToDesiredFrame(interpolationStartingPosition, parentFrame);
 goal.getTransformToDesiredFrame(interpolationGoalPosition, parentFrame);
 transformInterpolationCalculator.computeInterpolation(interpolationStartingPosition, interpolationGoalPosition, output, alpha);
 setAndUpdate(output);
}

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

public void interpolate(YoReferencePose start, YoReferencePose goal, double alpha)
{
 start.getTransformToDesiredFrame(interpolationStartingPosition, getParent());
 goal.getTransformToDesiredFrame(interpolationGoalPosition, getParent());
 transformInterpolationCalculator.computeInterpolation(interpolationStartingPosition, interpolationGoalPosition, output, alpha);
 setAndUpdate(output);
}

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

/**
* Calculates the difference between the external at t with the state estimated pelvis pose at t and stores it
* @param localizationPose - the corrected pelvis pose
*/
public void calculateAndStoreErrorInPast(TimeStampedTransform3D timestampedlocalizationPose)
{
 long timeStamp = timestampedlocalizationPose.getTimeStamp();
 RigidBodyTransform localizationPose = timestampedlocalizationPose.getTransform3D();
 localizationPose.getTranslation(localizationTranslationInPast);
 newLocalizationTranslationFrame.setAndUpdate(localizationTranslationInPast);
 localizationPose.getRotation(localizationRotationInPast);
 newLocalizationRotationFrame.setAndUpdate(localizationRotationInPast);
 stateEstimatorPelvisPoseBuffer.findTransform(timeStamp, seTimeStampedPose);
 RigidBodyTransform sePose = seTimeStampedPose.getTransform3D();
 sePose.getTranslation(seTranslationInPast);
 pelvisStateAtLocalizationTimeTranslationFrame.setAndUpdate(seTranslationInPast);
 sePose.getRotation(seRotationInPast);
 pelvisStateAtLocalizationTimeRotationFrame.setAndUpdate(seRotationInPast);
 newLocalizationTranslationFrame.getTransformToDesiredFrame(translationErrorInPastTransform, pelvisStateAtLocalizationTimeTranslationFrame);
 newLocalizationRotationFrame.getTransformToDesiredFrame(rotationErrorInPastTransform, pelvisStateAtLocalizationTimeRotationFrame);
 totalTranslationErrorFrame.setAndUpdate(translationErrorInPastTransform);
 totalRotationErrorFrame.setAndUpdate(rotationErrorInPastTransform);
}

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

/**
* clips max rotational velocity 
*/
private void updateRotationalMaxVelocityClip()
{
 interpolatedRotationCorrectionFrame.getTransformToDesiredFrame(errorBetweenCurrentPositionAndCorrected, worldFrame);
 errorBetweenCurrentPositionAndCorrected.getRotation(angleToTravelAxis4d);
 angleToTravel.set(angleToTravelAxis4d.getAngle());
 maxRotationAlpha.set((estimatorDT * maxRotationVelocityClip.getDoubleValue() / angleToTravel.getDoubleValue())
    + previousRotationClippedAlphaValue.getDoubleValue());
 rotationClippedAlphaValue.set(MathTools.clipToMinMax(interpolationRotationAlphaFilter.getDoubleValue(), 0.0, maxRotationAlpha.getDoubleValue()));
 previousRotationClippedAlphaValue.set(rotationClippedAlphaValue.getDoubleValue());
}

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

/**
* clips max translational velocity 
*/
private void updateTranslationalMaxVelocityClip()
{
 interpolatedTranslationCorrectionFrame.getTransformToDesiredFrame(errorBetweenCurrentPositionAndCorrected, worldFrame);
 errorBetweenCurrentPositionAndCorrected.getTranslation(distanceToTravelVector);
 distanceToTravel.set(distanceToTravelVector.length());
 maxTranslationAlpha.set((estimatorDT * maxTranslationVelocityClip.getDoubleValue() / distanceToTravel.getDoubleValue())
    + previousTranslationClippedAlphaValue.getDoubleValue());
 translationClippedAlphaValue.set(MathTools.clipToMinMax(interpolationTranslationAlphaFilter.getDoubleValue(), 0.0, maxTranslationAlpha.getDoubleValue()));
 previousTranslationClippedAlphaValue.set(translationClippedAlphaValue.getDoubleValue());
}

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

/**
* Updates max velocity clipping, interpolates from where we were 
* at the last correction tick to the goal and updates the pelvis
* @param pelvisPose - non corrected pelvis position
*/
private void correctPelvisPose(RigidBodyTransform pelvisPose)
{
 updateTranslationalMaxVelocityClip();
 updateRotationalMaxVelocityClip();
 interpolatedRotationCorrectionFrame.interpolate(interpolationRotationStartFrame, totalRotationErrorFrame, rotationClippedAlphaValue.getDoubleValue());
 interpolatedTranslationCorrectionFrame.interpolate(interpolationTranslationStartFrame, totalTranslationErrorFrame,
    translationClippedAlphaValue.getDoubleValue());
 if (USE_ROTATION_CORRECTION)
   interpolatedRotationCorrectionFrame.getTransformToParent(interpolatedRotationError);
 else
   interpolatedRotationError.setIdentity();
 orientationCorrection.setAndUpdate(interpolatedRotationError);
 interpolatedTranslationCorrectionFrame.getTransformToParent(interpolatedTranslationError);
 translationCorrection.setAndUpdate(interpolatedTranslationError);
 orientationCorrection.getTransformToDesiredFrame(pelvisPose, worldFrame);
}