本文整理了Java中us.ihmc.robotics.math.frames.YoFrameVector2d.getX()方法的一些代码示例，展示了YoFrameVector2d.getX()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。YoFrameVector2d.getX()方法的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFrameVector2d
类名称：YoFrameVector2d
方法名：getX

YoFrameVector2d.getX介绍

暂无

代码示例

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

private int findXIndex(double x)
{
 return (int) Math.floor(x / cellSize.getX());
}

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

private double getXCoordinateInSoleFrame(int xIndex)
{
 return ((double) xIndex + 0.5) * cellSize.getX() + gridOrigin.getX();
}

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

public void update(YoFrameVector2d vector)
{
 checkReferenceFrameMatch(vector.getReferenceFrame());
 xDot.update(vector.getX());
 yDot.update(vector.getY());
}

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

public void setDesiredCapturePointState(YoFramePoint2d currentDesiredCapturePointPosition, YoFrameVector2d currentDesiredCapturePointVelocity)
{
 // Do not set the Z to zero!
 desiredCapturePointPosition.checkReferenceFrameMatch(currentDesiredCapturePointPosition);
 desiredCapturePointPosition.setX(currentDesiredCapturePointPosition.getX());
 desiredCapturePointPosition.setY(currentDesiredCapturePointPosition.getY());
 desiredCapturePointVelocity.checkReferenceFrameMatch(currentDesiredCapturePointVelocity);
 desiredCapturePointVelocity.setX(currentDesiredCapturePointVelocity.getX());
 desiredCapturePointVelocity.setY(currentDesiredCapturePointVelocity.getY());
}

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

double distanceToMoveAwayFromLine = Math.max(minDistanceFromLine, Math.abs(cellSize.getX() * Math.cos(theta) + cellSize.getY() * Math.sin(theta)));
shiftingVector.scale(distanceToMoveAwayFromLine);

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

private void sequenceShiftWeight()
{
 FramePoint2d center = new FramePoint2d(midFeetZUpFrame);
 FrameConvexPolygon2d supportPolygon = new FrameConvexPolygon2d(yoSupportPolygon.getFrameConvexPolygon2d());
 supportPolygon.changeFrameAndProjectToXYPlane(midFeetZUpFrame);
 FrameVector2d desiredPelvisOffset = new FrameVector2d(midFeetZUpFrame);
 for (int i = 0; i < supportPolygon.getNumberOfVertices(); i++)
 {
   supportPolygon.getFrameVertex(i, desiredPelvisOffset);
   desiredPelvisOffset.sub(center);
   submitDesiredPelvisPositionOffset(false, pelvisShiftScaleFactor.getX() * desiredPelvisOffset.getX(),
      pelvisShiftScaleFactor.getY() * desiredPelvisOffset.getY(), 0.0);
 }
 // Get back to the first vertex again
 supportPolygon.getFrameVertex(0, desiredPelvisOffset);
 desiredPelvisOffset.sub(center);
 submitDesiredPelvisPositionOffset(false, pelvisShiftScaleFactor.getX() * desiredPelvisOffset.getX(),
    pelvisShiftScaleFactor.getY() * desiredPelvisOffset.getY(), 0.0);
 submitPelvisHomeCommand(false);
}

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

@Override
  public void variableChanged(YoVariable<?> v)
  {
   counterGrid.reshape(nLengthSubdivisions.getIntegerValue(), nWidthSubdivisions.getIntegerValue());
   occupancyGrid.reshape(nLengthSubdivisions.getIntegerValue(), nWidthSubdivisions.getIntegerValue());
   cellSize.setX(footLength / nLengthSubdivisions.getIntegerValue());
   cellSize.setY(footWidth / nWidthSubdivisions.getIntegerValue());
   cellArea.set(cellSize.getX() * cellSize.getY());
  }
};

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

private void constrainCMPAccordingToSupportPolygonAndUserOffsets(FramePoint2d cmpToPack, FrameConvexPolygon2d footSupportPolygon,
   FramePoint2d centroidOfFootstepToConsider, YoFrameVector2d cmpOffset, double minForwardCMPOffset, double maxForwardCMPOffset)
{
 // First constrain the computed CMP to the given min/max along the x-axis.
 FramePoint2d footSupportCentroid = footSupportPolygon.getCentroid();
 double cmpXOffsetFromCentroid = stepLengthToCMPOffsetFactor.getDoubleValue() * (centroidOfFootstepToConsider.getX() - footSupportCentroid.getX()) + cmpOffset.getX();
 cmpXOffsetFromCentroid = MathTools.clipToMinMax(cmpXOffsetFromCentroid, minForwardCMPOffset, maxForwardCMPOffset);
 cmpToPack.setIncludingFrame(footSupportCentroid);
 cmpToPack.add(cmpXOffsetFromCentroid, cmpOffset.getY());
 // Then constrain the computed CMP to be inside a safe support region
 tempSupportPolygonForShrinking.setIncludingFrameAndUpdate(footSupportPolygon);
 convexPolygonShrinker.shrinkConstantDistanceInto(tempSupportPolygonForShrinking, safeDistanceFromCMPToSupportEdges.getDoubleValue(), footSupportPolygon);
 footSupportPolygon.orthogonalProjection(cmpToPack);
}

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

private void computeEntryCMP(FramePoint entryCMPToPack, RobotSide robotSide, ReferenceFrame soleFrame, FrameConvexPolygon2d footSupportPolygon, FramePoint2d centroidInSoleFrameOfPreviousSupportFoot,
   YoFramePoint previousExitCMP)
{
 if (useTwoCMPsPerSupport)
 {
   if (centroidInSoleFrameOfPreviousSupportFoot != null)
    centroidOfFootstepToConsider.setIncludingFrame(centroidInSoleFrameOfPreviousSupportFoot);
   else
    centroidOfFootstepToConsider.setToZero(soleFrame);
   centroidOfFootstepToConsider.changeFrameAndProjectToXYPlane(soleFrame);
   if (previousExitCMP != null)
   {
    previousExitCMP.getFrameTuple2dIncludingFrame(previousExitCMP2d);
    previousExitCMP2d.changeFrameAndProjectToXYPlane(soleFrame);
    // Choose the laziest option
    if (Math.abs(previousExitCMP2d.getX()) < Math.abs(centroidOfFootstepToConsider.getX()))
      centroidOfFootstepToConsider.set(previousExitCMP2d);
   }
   constrainCMPAccordingToSupportPolygonAndUserOffsets(cmp2d, footSupportPolygon, centroidOfFootstepToConsider, entryCMPUserOffsets.get(robotSide),
      minForwardEntryCMPOffset.getDoubleValue(), maxForwardEntryCMPOffset.getDoubleValue());
 }
 else
 {
   cmp2d.setIncludingFrame(footSupportPolygon.getCentroid());
   YoFrameVector2d offset = entryCMPUserOffsets.get(robotSide);
   cmp2d.add(offset.getX(), offset.getY());
 }
 entryCMPToPack.setXYIncludingFrame(cmp2d);
 entryCMPToPack.changeFrame(worldFrame);
}

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

@Override
public double calculateCost(FramePose stanceFoot, FramePose swingStartFoot, FramePose idealFootstep, FramePose candidateFootstep, double percentageOfFoothold)
{
 double cost = footstepBaseCost.getDoubleValue();
 setXYVectorFromPoseToPoseNormalize(forwardCostVector, swingStartFoot, idealFootstep);
 setXYVectorFromPoseToPoseNormalize(backwardCostVector, idealFootstep, swingStartFoot);
 inwardCostVector.set(forwardCostVector.getY(), -forwardCostVector.getX());
 outwardCostVector.set(-forwardCostVector.getY(), forwardCostVector.getX());
 upwardCostVector.set(0.0, 0.0, 1.0);
 downwardVector.set(0.0, 0.0, -1.0);
 setVectorFromPoseToPose(idealToCandidateVector, idealFootstep, candidateFootstep);
 setOrientationFromPoseToPose(idealToCandidateOrientation, idealFootstep, candidateFootstep);
 double downwardPenalizationWeightConsideringStancePitch = downwardCostScalar.getDoubleValue();
 if (stanceFoot.getPitch() < 0)
 {
   downwardPenalizationWeightConsideringStancePitch += -stanceFoot.getPitch() * stancePitchDownwardCostScalar.getDoubleValue();
 }
 cost += penalizeCandidateFootstep(forwardCostVector, forwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(backwardCostVector, backwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(inwardCostVector, inwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(outwardCostVector, outwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(upwardCostVector, upwardCostScalar.getDoubleValue());
 cost += penalizeCandidateFootstep(downwardVector, downwardPenalizationWeightConsideringStancePitch);
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getYaw().getDoubleValue());
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getPitch().getDoubleValue());
 cost += angularCostScalar.getDoubleValue() * Math.abs(idealToCandidateOrientation.getRoll().getDoubleValue());
 cost += (1.0 - percentageOfFoothold) * negativeFootholdLinearCostScalar.getDoubleValue();
 return cost;
}

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

shiftingVector.scale(cellSize.getX() * Math.cos(theta) + cellSize.getY() * Math.sin(theta));
if (Math.abs(theta % Math.PI / 2.0) > 0.1)
  shiftedLineVector.scale(cellSize.getX() / Math.cos(theta));

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

private void sequenceMediumWarmup()
{
 FramePoint2d center = new FramePoint2d(midFeetZUpFrame);
 FrameVector2d shiftScaleVector = new FrameVector2d(midFeetZUpFrame, 0.1, 0.7);
 FrameConvexPolygon2d supportPolygon = new FrameConvexPolygon2d(yoSupportPolygon.getFrameConvexPolygon2d());
 supportPolygon.changeFrameAndProjectToXYPlane(midFeetZUpFrame);
 FrameVector2d desiredPelvisOffset = new FrameVector2d(midFeetZUpFrame);
 for (int i = 0; i < supportPolygon.getNumberOfVertices(); i++)
 {
   supportPolygon.getFrameVertex(i, desiredPelvisOffset);
   desiredPelvisOffset.sub(center);
   submitDesiredPelvisPositionOffset(false, shiftScaleVector.getX() * desiredPelvisOffset.getX(), shiftScaleVector.getY() * desiredPelvisOffset.getY(),
      0.0);
   sequenceSquats();
   sequenceChestRotations(0.55); //TODO increase/decrease limit?
   sequencePelvisRotations(0.3); //TODO increase/decrease limit?
 }
 // Get back to the first vertex again
 supportPolygon.getFrameVertex(0, desiredPelvisOffset);
 desiredPelvisOffset.sub(center);
 submitDesiredPelvisPositionOffset(false, pelvisShiftScaleFactor.getX() * desiredPelvisOffset.getX(),
    pelvisShiftScaleFactor.getY() * desiredPelvisOffset.getY(), 0.0);
 submitChestHomeCommand(false);
 submitPelvisHomeCommand(false);
}

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

tempICPOffset.setIncludingFrame(supportFrame, desiredICPOffset.getX(), desiredICPOffset.getY());