本文整理了Java中us.ihmc.robotics.math.frames.YoFramePoint2d.set()方法的一些代码示例，展示了YoFramePoint2d.set()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。YoFramePoint2d.set()方法的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFramePoint2d
类名称：YoFramePoint2d
方法名：set

YoFramePoint2d.set介绍

暂无

代码示例

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

public void setPosition(Point2d point2d)
  {
   point.set(point2d);
  }
}

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

public void initialize()
{
 update();
 yoFinalDesiredICP.set(Double.NaN, Double.NaN);
 momentumBasedController.getCapturePoint(tempCapturePoint);
 yoDesiredCapturePoint.setByProjectionOntoXYPlane(tempCapturePoint);
 icpPlanner.holdCurrentICP(yoTime.getDoubleValue(), tempCapturePoint);
 icpPlanner.initializeForStanding(yoTime.getDoubleValue());
 linearMomentumRateOfChangeControlModule.initializeForStanding();
}

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

public void updateCoP()
{
 readSensorData(footWrench);
 if (Math.abs(footWrench.getLinearPartZ()) < MIN_FORCE_TO_COMPUTE_COP)
 {
   yoResolvedCoP.setToNaN();
   resolvedCoP3d.setToNaN(ReferenceFrame.getWorldFrame());
   resolvedCoP.setToNaN();
 }
 else
 {
   copResolver.resolveCenterOfPressureAndNormalTorque(resolvedCoP, footWrench, contactablePlaneBody.getSoleFrame());
   yoResolvedCoP.set(resolvedCoP);
      resolvedCoP3d.setToZero(resolvedCoP.getReferenceFrame());
   resolvedCoP3d.setXY(resolvedCoP);
   resolvedCoP3d.changeFrame(ReferenceFrame.getWorldFrame());
 }
}

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

public void setDesiredCenterOfPressure(ContactablePlaneBody contactablePlaneBody, FramePoint2d desiredCoP)
{
 YoFramePoint2d cop = footDesiredCenterOfPressures.get(contactablePlaneBody);
 if (cop != null)
   cop.set(desiredCoP);
}

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

public void setValuesForFeedbackOnly(FramePoint2d desiredICP, FrameVector2d desiredICPVelocity, double omega0)
{
 CapturePointTools.computeDesiredCentroidalMomentumPivot(desiredICP, desiredICPVelocity, omega0, tmpCMP);
 controllerReferenceICP.set(desiredICP);
 controllerReferenceICPVelocity.set(desiredICPVelocity);
 controllerReferenceCMP.set(tmpCMP);
 nominalReferenceICP.set(desiredICP);
 nominalReferenceICPVelocity.set(desiredICPVelocity);
 nominalReferenceCMP.set(tmpCMP);
}

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

public void addFootstepToPlan(Footstep footstep)
{
 if (footstep != null)
 {
   upcomingFootsteps.add(footstep);
   footstep.getPosition2d(tmpFramePoint2d);
   upcomingFootstepLocations.get(upcomingFootsteps.size() - 1).set(tmpFramePoint2d);
   inputHandler.addFootstepToPlan(footstep);
   footstepSolutions.get(upcomingFootsteps.size() - 1).set(tmpFramePoint2d);
 }
}

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

public void setDesiredDestination(FramePoint2d desiredDestinationInWorld)
{
 numberBlindStepsInPlace.set(0);
 this.desiredDestination.set(desiredDestinationInWorld);
}

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

public void setContactPoints(List<Point2d> contactPointLocations)
{
 int contactPointLocationsSize = contactPointLocations.size();
 if (contactPointLocationsSize != totalNumberOfContactPoints)
   throw new RuntimeException("contactPointLocationsSize != totalNumberOfContactPoints");
 for (int i = 0; i < contactPointLocationsSize; i++)
 {
   Point2d contactPointLocation = contactPointLocations.get(i);
   YoContactPoint yoContactPoint = contactPoints.get(i);
   yoContactPoint.setPosition2d(contactPointLocation);
 }
 contactPointsPolygon.setIncludingFrameAndUpdate(planeFrame, contactPointLocations);
 this.contactPointCentroid.set(contactPointsPolygon.getCentroid());
}

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

public void computeReferenceFromSolutions(ArrayList<YoFramePoint2d> footstepSolutions, ArrayList<FrameVector2d> entryOffsets, ArrayList<FrameVector2d> exitOffsets,
   FramePoint2d previousStanceExitCMP, FramePoint2d stanceEntryCMP, FramePoint2d stanceExitCMP, FramePoint finalICP, YoFramePoint2d beginningOfStateICP,
   double omega0, int numberOfFootstepsToConsider)
{
 finalICP.getFrameTuple2d(finalICP2d);
 footstepRecursionMultiplierCalculator.computeICPPoints(finalICP2d, footstepSolutions, entryOffsets, exitOffsets, previousStanceExitCMP, stanceEntryCMP,
    stanceExitCMP, beginningOfStateICP.getFrameTuple2d(), numberOfFootstepsToConsider, tmpEndPoint, tmpReferencePoint, tmpReferenceVelocity);
 CapturePointTools.computeDesiredCentroidalMomentumPivot(tmpReferencePoint, tmpReferenceVelocity, omega0, tmpCMP);
 actualEndOfStateICP.set(tmpEndPoint);
 controllerReferenceICP.set(tmpReferencePoint);
 controllerReferenceICPVelocity.set(tmpReferenceVelocity);
 controllerReferenceCMP.set(tmpCMP);
}

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

public void computeNominalValues(ArrayList<YoFramePoint2d> upcomingFootstepLocations, ArrayList<FrameVector2d> entryOffsets, ArrayList<FrameVector2d> exitOffsets,
   FramePoint2d previousStanceExitCMP, FramePoint2d stanceEntryCMP, FramePoint2d stanceExitCMP, FramePoint finalICP, YoFramePoint2d beginningOfStateICP,
   double omega0, int numberOfFootstepsToConsider)
{
 finalICP.getFrameTuple2d(finalICP2d);
 footstepRecursionMultiplierCalculator.computeICPPoints(finalICP2d, upcomingFootstepLocations, entryOffsets, exitOffsets,
    previousStanceExitCMP, stanceEntryCMP, stanceExitCMP, beginningOfStateICP.getFrameTuple2d(), numberOfFootstepsToConsider, tmpEndPoint,
    tmpReferencePoint, tmpReferenceVelocity);
 CapturePointTools.computeDesiredCentroidalMomentumPivot(tmpReferencePoint, tmpReferenceVelocity, omega0, tmpCMP);
 nominalEndOfStateICP.set(tmpEndPoint);
 nominalReferenceICP.set(tmpReferencePoint);
 nominalReferenceICPVelocity.set(tmpReferenceVelocity);
 nominalReferenceCMP.set(tmpCMP);
}

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

public void setContactFramePoints(List<FramePoint2d> contactPointLocations)
{
 int contactPointLocationsSize = contactPointLocations.size();
 if (contactPointLocationsSize != totalNumberOfContactPoints)
   throw new RuntimeException("contactPointLocationsSize != totalNumberOfContactPoints");
 for (int i = 0; i < contactPointLocationsSize; i++)
 {
   FramePoint2d contactPointLocation = contactPointLocations.get(i);
   YoContactPoint yoContactPoint = contactPoints.get(i);
   yoContactPoint.setPosition(contactPointLocation);
 }
 contactPointsPolygon.setIncludingFrameAndUpdate(contactPointLocations);
 this.contactPointCentroid.set(contactPointsPolygon.getCentroid());
}

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

public void getProjectedOntoXYPlane(YoFramePoint2d positionToPack)
{
 positionToPack.set(currentPosition.getX(), currentPosition.getY());
}

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

private void getYoValuesFromFrameConvexPolygon2d()
{
 numVertices.set(convexPolygon2dForWriting.getNumberOfVertices());
 try
 {
   for (int i = 0; i < numVertices.getIntegerValue(); i++)
   {
    yoFramePoints.get(i).checkReferenceFrameMatch(convexPolygon2dForWriting);
    yoFramePoints.get(i).set(convexPolygon2dForWriting.getVertex(i));
   }
 }
 catch (Exception e)
 {
   System.err.println("In YoFrameConvexPolygon2d.java: " + e.getClass().getSimpleName() + " while calling getYoValuesFromFrameConvexPolygon2d().");
   e.printStackTrace();
 }
}

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

private void scaleFeedbackWeightWithGain()
{
 getTransformedWeights(feedbackWeights, feedbackForwardWeight.getDoubleValue(), feedbackLateralWeight.getDoubleValue());
 scaledFeedbackWeight.set(feedbackWeights);
 if (scaleFeedbackWeightWithGain.getBooleanValue())
 {
   getTransformedFeedbackGains(feedbackGains);
   double alpha = Math.sqrt(Math.pow(feedbackGains.getX(), 2) + Math.pow(feedbackGains.getY(), 2));
   scaledFeedbackWeight.scale(1.0 / alpha);
 }
}

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

public void extractFootstepSolutions(ArrayList<YoFramePoint2d> footstepSolutionsToPack, ArrayList<YoFramePoint2d> referenceFootstepLocations,
   ArrayList<Footstep> upcomingFootsteps, int numberOfFootstepsToConsider,
   ICPOptimizationSolver solver)
{
 boolean firstStepAdjusted = false;
 for (int i = 0; i < numberOfFootstepsToConsider; i++)
 {
   solver.getFootstepSolutionLocation(i, locationSolution);
   upcomingFootsteps.get(i).getPosition2d(upcomingFootstepLocation);
   ReferenceFrame deadbandFrame = upcomingFootsteps.get(i).getSoleReferenceFrame();
   boolean footstepWasAdjusted = applyLocationDeadband(locationSolution, upcomingFootstepLocation, referenceFootstepLocations.get(i).getFrameTuple2d(), deadbandFrame,
      footstepDeadband.getDoubleValue(), footstepSolutionResolution.getDoubleValue());
   if (i == 0)
    firstStepAdjusted = footstepWasAdjusted;
   footstepSolutionsToPack.get(i).set(locationSolution);
 }
 this.footstepWasAdjusted.set(firstStepAdjusted);
}

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

public void setCenterOfPressureCommand(CenterOfPressureCommand command)
{
 desiredCoPCommandInSoleFrame.set(command.getDesiredCoPInSoleFrame());
 desiredCoPCommandWeightInSoleFrame.set(command.getWeightInSoleFrame());
 hasReceivedCenterOfPressureCommand.set(true);
}

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

@Override
public void processDataAtControllerRate()
{
 logDataProcessorHelper.update();
 admissibleGroundReactionWrench.setToZero(centerOfMassFrame, centerOfMassFrame);
 admissibleDesiredGroundReactionTorque.getFrameTupleIncludingFrame(tempVector);
 admissibleGroundReactionWrench.setAngularPart(tempVector);
 admissibleDesiredGroundReactionForce.getFrameTupleIncludingFrame(tempVector);
 admissibleGroundReactionWrench.setLinearPart(tempVector);
 
 centerOfPressureResolver.resolveCenterOfPressureAndNormalTorque(tempCoP, admissibleGroundReactionWrench, worldFrame);
 admissibleDesiredCenterOfPressure.set(tempCoP);
}

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

@Override
public void computeCMPInternal(FramePoint2d desiredCMPPreviousValue)
{
 icpOptimizationController.compute(yoTime.getDoubleValue(), desiredCapturePoint, desiredCapturePointVelocity, capturePoint, omega0);
 icpOptimizationController.getDesiredCMP(desiredCMP);
 yoUnprojectedDesiredCMP.set(desiredCMP);
 // do projection here:
 if (!areaToProjectInto.isEmpty())
 {
   desiredCMPinSafeArea.set(safeArea.isPointInside(desiredCMP));
   if (safeArea.isPointInside(desiredCMP))
   {
    supportPolygon.setIncludingFrameAndUpdate(bipedSupportPolygons.getSupportPolygonInMidFeetZUp());
    areaToProjectInto.setIncludingFrameAndUpdate(supportPolygon);
   }
   cmpProjector.projectCMPIntoSupportPolygonIfOutside(capturePoint, areaToProjectInto, finalDesiredCapturePoint, desiredCMP);
 }
}

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

public void compute(double time, boolean footholdWasUpdated)
{
 if (!footholdExplorationActive.getBooleanValue() || partialFootholdControlModule == null)
 {
   reset();
   return;
 }
 if (timeExploring.isNaN())
   startTime.set(time);
 timeExploring.set(time - startTime.getDoubleValue());
 computeDesiredCenterOfPressure(time, footholdWasUpdated);
 desiredCopInWorld.setIncludingFrame(desiredCenterOfPressure);
 desiredCopInWorld.changeFrameAndProjectToXYPlane(ReferenceFrame.getWorldFrame());
 if (yoDesiredCop != null)
   yoDesiredCop.set(desiredCopInWorld);
 centerOfPressureCommand.setDesiredCoP(desiredCenterOfPressure.getPoint());
 commandWeight.set(copCommandWeight.getDoubleValue(), copCommandWeight.getDoubleValue());
 centerOfPressureCommand.setWeight(commandWeight);
}

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

private void computeCop()
{
 double force = 0.0;
 centerOfPressure.setToZero(worldFrame);
 for (RobotSide robotSide : RobotSide.values)
 {
   footSwitches.get(robotSide).computeAndPackCoP(tempFootCop2d);
   if (tempFootCop2d.containsNaN())
    continue;
   footSwitches.get(robotSide).computeAndPackFootWrench(tempFootWrench);
   double footForce = tempFootWrench.getLinearPartZ();
   force += footForce;
   tempFootCop.setIncludingFrame(tempFootCop2d.getReferenceFrame(), tempFootCop2d.getX(), tempFootCop2d.getY(), 0.0);
   tempFootCop.changeFrame(worldFrame);
   tempFootCop.scale(footForce);
   centerOfPressure.add(tempFootCop.getX(), tempFootCop.getY());
 }
 centerOfPressure.scale(1.0 / force);
 yoCenterOfPressure.set(centerOfPressure);
}