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

ZUpFrame.update介绍

暂无

代码示例

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

public ZUpFrame(ReferenceFrame worldFrame, FramePoint3D origin, String name)
{
 super(name, worldFrame, false, true);
 this.worldFrame = worldFrame;
 this.origin = new FramePoint3D(origin);
 
 this.update();
}

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

public ZUpFrame(ReferenceFrame worldFrame, FramePoint origin, String name)
{
 super(name, worldFrame, false, false, true);
 this.worldFrame = worldFrame;
 this.origin = new FramePoint(origin);
 
 this.update();
}

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

@Override
public void updateFrames()
{
 fullRobotModel.updateFrames();
 pelvisZUpFrame.update();
 midFeetZUpFrame.update();
 midFeetZUpWalkDirectionFrame.update();
 midFeetUnderPelvisWalkDirectionFrame.update();
 for (RobotSide robotSide : RobotSide.values)
 {
   ankleZUpFrames.get(robotSide).update();
   soleFrames.get(robotSide).update();
   soleZUpFrames.get(robotSide).update();
 }
 centerOfMassFrame.update();
}

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

@Override
public void initializeDesiredFootstep(RobotSide supportLegSide, double stepDuration)
{
 RobotSide swingLegSide = supportLegSide.getOppositeSide();
 ZUpFrame supportZUpFrame = soleZUpFrames.get(supportLegSide);
 supportZUpFrame.update();
 ReferenceFrame supportFrame = soleFrames.get(supportLegSide);
 computeDistanceAndAngleToDestination(supportZUpFrame, swingLegSide, desiredDestination.getFramePoint2dCopy());
 if (distanceToDestination.getDoubleValue() < DISTANCE_TO_DESTINATION_FOR_STEP_IN_PLACE)
 {
   numberBlindStepsInPlace.increment();
 }
 FrameOrientation footOrientation = computeDesiredFootRotation(angleToDestination.getDoubleValue(), swingLegSide, supportFrame);
 FramePoint footstepPosition = getDesiredFootstepPositionCopy(supportZUpFrame, supportFrame, swingLegSide);
 setYoVariables(swingLegSide, footOrientation, footstepPosition);
}

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

@Override
public FootstepDataMessage predictFootstepAfterDesiredFootstep(RobotSide supportLegSide, FootstepDataMessage desiredFootstep, double timeFromNow,
   double stepDuration)
{
 RobotSide futureSwingLegSide = supportLegSide;
 PoseReferenceFrame futureSupportFrame = new PoseReferenceFrame("futureSupportFrame", worldFrame);
 futureSupportFrame.setPoseAndUpdate(desiredFootstep.getLocation(), desiredFootstep.getOrientation());
 ZUpFrame futureSupportZUpFrame = new ZUpFrame(worldFrame, futureSupportFrame, "futureSupportZUpFrame");
 futureSupportZUpFrame.update();
 ReferenceFrame desiredHeadingFrame = desiredHeadingControlModule.getPredictedHeadingFrame(timeFromNow);
 Matrix3d footToWorldRotation = computeDesiredFootRotation(desiredHeadingFrame);
 FrameOrientation footstepOrientation = new FrameOrientation(worldFrame, footToWorldRotation);
 FramePoint footstepPosition = getDesiredFootstepPosition(futureSupportZUpFrame, futureSwingLegSide, footToWorldRotation, timeFromNow, stepDuration);
 footstepPosition.changeFrame(worldFrame);
 FootstepDataMessage predictedFootstep = new FootstepDataMessage();
 predictedFootstep.setOrigin(FootstepOrigin.AT_SOLE_FRAME);
 predictedFootstep.setRobotSide(futureSwingLegSide);
 predictedFootstep.setLocation(footstepPosition.getPoint());
 predictedFootstep.setOrientation(footstepOrientation.getQuaternion());
 return predictedFootstep;
}

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

parentSoleZupFrame.update();

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

parentSoleZupFrame.update();