本文整理了Java中us.ihmc.robotics.math.frames.YoFramePoint2d类的一些代码示例，展示了YoFramePoint2d类的具体用法。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类的具体详情如下：
包路径：us.ihmc.robotics.math.frames.YoFramePoint2d
类名称：YoFramePoint2d

YoFramePoint2d介绍

暂无

代码示例

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

public YoArtifactPosition(String name, DoubleYoVariable x, DoubleYoVariable y, GraphicType type, Color color, double radius)
{
 this(name, new YoFramePoint2d(x, y, ReferenceFrame.getWorldFrame()), type, color, radius);
}

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 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/IHMCGraphicsDescription

public YoArtifactLineSegment2d(String name, YoFramePoint2d startPoint, YoFramePoint2d endPoint, Color color, double arrowHeadWidth, double arrowHeadHeight)
{
 this(name, startPoint.getYoX(), startPoint.getYoY(), endPoint.getYoX(), endPoint.getYoY(), color, arrowHeadWidth, arrowHeadHeight);
}

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

public YoGraphicPosition(String name, YoFramePoint2d framePoint, double scale, AppearanceDefinition appearance, GraphicType type)
{
 super(name);
 framePoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
 this.x = framePoint.getYoX();
 this.y = framePoint.getYoY();
 this.z = null;
 this.scale = scale;
 this.type = type;
 this.appearance = appearance;
}

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

stanceExitCMP2d.setByProjectionOntoXYPlane(stanceExitCMP);
this.previousStanceExitCMP.set(previousStanceExitCMP2d);
this.stanceEntryCMP.set(stanceEntryCMP2d);
this.stanceExitCMP.set(stanceExitCMP2d);
stanceExitCMP2d.setByProjectionOntoXYPlane(stanceExitCMP);
this.previousStanceExitCMP.setToNaN();
this.stanceEntryCMP.set(stanceEntryCMP2d);
this.stanceExitCMP.set(stanceExitCMP2d);
stanceExitCMP2d.setByProjectionOntoXYPlane(stanceExitCMP);
this.previousStanceExitCMP.set(previousStanceExitCMP2d);
this.stanceEntryCMP.setToNaN();
this.stanceExitCMP.set(stanceExitCMP2d);
stanceExitCMP2d.setByProjectionOntoXYPlane(stanceExitCMP);
this.previousStanceExitCMP.setToNaN();
this.stanceEntryCMP.setToNaN();
this.stanceExitCMP.set(stanceExitCMP2d);

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

private void submitFootstepConditionsToSolver(int footstepIndex)
{
 getTransformedWeights(footstepWeights, forwardFootstepWeight.getDoubleValue(), lateralFootstepWeight.getDoubleValue());
 scaledFootstepWeights.set(footstepWeights);
 if (localScaleUpcomingStepWeights)
   scaledFootstepWeights.scale(1.0 / (footstepIndex + 1));
 double footstepRecursionMultiplier;
 if (localUseTwoCMPs)
 {
   double entryMutliplier = footstepRecursionMultiplierCalculator.getCMPRecursionEntryMultiplier(footstepIndex);
   double exitMutliplier = footstepRecursionMultiplierCalculator.getCMPRecursionExitMultiplier(footstepIndex);
   footstepRecursionMultiplier = entryMutliplier + exitMutliplier;
 }
 else
 {
   footstepRecursionMultiplier = footstepRecursionMultiplierCalculator.getCMPRecursionExitMultiplier(footstepIndex);
 }
 footstepRecursionMultiplier *= footstepRecursionMultiplierCalculator.getCurrentStateProjectionMultiplier();
 solver.setFootstepAdjustmentConditions(footstepIndex, footstepRecursionMultiplier, scaledFootstepWeights.getX(), scaledFootstepWeights.getY(),
    upcomingFootstepLocations.get(footstepIndex).getFrameTuple2d());
}

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

public ExplorationHelper(ContactableFoot contactableFoot, FootControlHelper footControlHelper, String prefix, YoVariableRegistry registry)
{
 footholdExplorationActive = new BooleanYoVariable(prefix + "FootholdExplorationActive", registry);
 timeExploring = new DoubleYoVariable(prefix + "TimeExploring", registry);
 startTime = new DoubleYoVariable(prefix + "StartTime", registry);
 yoCurrentCorner = new IntegerYoVariable(prefix + "CurrentCornerExplored", registry);
 centerOfPressureCommand.setContactingRigidBody(contactableFoot.getRigidBody());
 explorationParameters = footControlHelper.getWalkingControllerParameters().getOrCreateExplorationParameters(registry);
 if (explorationParameters != null)
   copCommandWeight = explorationParameters.getCopCommandWeight();
 else
   copCommandWeight = null;
 soleFrame = footControlHelper.getContactableFoot().getSoleFrame();
 partialFootholdControlModule = footControlHelper.getPartialFootholdControlModule();
 YoGraphicsListRegistry graphicObjectsListRegistry = footControlHelper.getMomentumBasedController().getDynamicGraphicObjectsListRegistry();
 if (graphicObjectsListRegistry != null)
 {
   yoDesiredCop = new YoFramePoint2d(prefix + "DesiredExplorationCop", ReferenceFrame.getWorldFrame(), registry);
   String name = prefix + "Desired Center of Pressure for Exploration";
   YoArtifactPosition artifact = new YoArtifactPosition(name, yoDesiredCop.getYoX(), yoDesiredCop.getYoY(), GraphicType.BALL, Color.BLUE, 0.003);
   graphicObjectsListRegistry.registerArtifact(prefix + getClass().getSimpleName(), artifact);
 }
 else
 {
   yoDesiredCop = null;
 }
}

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

public FramePoint2d getPreviousStanceExitCMP()
{
 return previousStanceExitCMP.getFrameTuple2d();
}

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

public YoPlaneContactState(String namePrefix, RigidBody rigidBody, ReferenceFrame planeFrame, List<FramePoint2d> contactFramePoints,
   double coefficientOfFriction, YoVariableRegistry parentRegistry)
{
 this.registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName());
 this.inContact = new BooleanYoVariable(namePrefix + "InContact", registry);
 this.coefficientOfFriction = new DoubleYoVariable(namePrefix + "CoefficientOfFriction", registry);
 this.coefficientOfFriction.set(coefficientOfFriction);
 this.rigidBody = rigidBody;
 this.planeFrame = planeFrame;
 parentRegistry.addChild(registry);
 this.contactNormalFrameVector = new FrameVector(planeFrame, 0.0, 0.0, 1.0);
 contactPoints = new ArrayList<YoContactPoint>(contactFramePoints.size());
 for (int i = 0; i < contactFramePoints.size(); i++)
 {
   YoContactPoint contactPoint = new YoContactPoint(namePrefix, i, contactFramePoints.get(i), this, registry);
   contactPoint.setInContact(true);
   contactPoints.add(contactPoint);
 }
 inContact.set(true);
 totalNumberOfContactPoints = contactPoints.size();
 contactPointCentroid = new YoFramePoint2d(namePrefix + "ContactPointCentroid", planeFrame, registry);
 contactPointCentroid.setToNaN();
 hasContactStateChanged = new BooleanYoVariable(namePrefix + "HasChanged", registry);
}

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

ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
  String namePrefix = soleFrame.getName() + "DesiredCoP";
  YoFramePoint2d yoDesiredCenterOfPressure = new YoFramePoint2d(namePrefix, soleFrame, registry);
  footDesiredCenterOfPressures.put(contactableFoot, yoDesiredCenterOfPressure);
  yoGraphicsListRegistry.registerArtifact(graphicListName, capturePointViz.createArtifact());
  YoArtifactPosition copViz = new YoArtifactPosition("Controller CoP", yoCenterOfPressure.getYoX(), yoCenterOfPressure.getYoY(),
     GraphicType.DIAMOND, Color.BLACK , 0.005);
  yoGraphicsListRegistry.registerArtifact(graphicListName, copViz);
yoCenterOfPressure.setToNaN();

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

public void getContactPointCentroid(FramePoint2d centroidToPack)
{
 this.contactPointCentroid.getFrameTuple2dIncludingFrame(centroidToPack);
}

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

pushRecoveryControlModule.updateForSingleSupport(desiredCapturePoint2d, capturePoint2d, omega0);
yoDesiredCapturePoint.set(desiredCapturePoint2d);
yoDesiredICPVelocity.set(desiredCapturePointVelocity2d);
yoFinalDesiredICP.getFrameTuple2dIncludingFrame(finalDesiredCapturePoint2d);
yoAdjustedDesiredCapturePoint.set(adjustedDesiredCapturePoint2d);
desiredCapturePoint2d.setIncludingFrame(adjustedDesiredCapturePoint2d);
  linearMomentumRateOfChangeControlModule.setPerfectCMP(perfectCMP);
  linearMomentumRateOfChangeControlModule.setSupportLeg(supportLeg);
  yoDesiredCMP.getFrameTuple2d(desiredCMP);
  linearMomentumRateOfChangeControlModule.compute(desiredCMP, desiredCMP);
  yoDesiredCMP.set(desiredCMP);

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

public static BetaFilteredYoFramePoint2d createBetaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, YoFramePoint2d unfilteredPoint)
{
 // beta is a int
 BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoX());
 BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoY());
 BetaFilteredYoFramePoint2d ret = new BetaFilteredYoFramePoint2d(x, y, unfilteredPoint.getReferenceFrame());
 return ret;
}

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

String listName = getClass().getSimpleName();
YoFramePoint2d cop2d = new YoFramePoint2d(copName + "2d", "", contactableBody.getSoleFrame(), registry);
centersOfPressure2d.put(contactableBody, cop2d);
cops.put(contactableBody, footCenter2d);
YoFramePoint2d yoCop = new YoFramePoint2d(contactableBody.getName() + "CoP", contactableBody.getSoleFrame(), registry);
yoCop.set(footCenter2d);
yoCops.put(contactableBody, yoCop);

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

copsRawInFootFrame.get(trustedFoot).getFrameTuple2dIncludingFrame(tempCoP2d);
copsRawInFootFrame.get(trustedFoot).set(tempCoP2d);

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/IHMCRoboticsToolkit

public YoFrameConvexPolygon2d(String namePrefix, String nameSuffix, ReferenceFrame referenceFrame, int maxNumberOfVertices, YoVariableRegistry registry)
{
 this.numVertices = new IntegerYoVariable(namePrefix + "NumVertices" + nameSuffix, registry);
 numVertices.addVariableChangedListener(this);
 this.referenceFrame = referenceFrame;
 for (int i = 0; i < maxNumberOfVertices; i++)
 {
   YoFramePoint2d point = new YoFramePoint2d(namePrefix + "_" + i + "_", nameSuffix, referenceFrame, registry);
   point.attachVariableChangedListener(this);
   yoFramePoints.add(point);
 }
 convexPolygon2dForReading = new FrameConvexPolygon2d(referenceFrame);
 convexPolygon2dForWriting = new FrameConvexPolygon2d(referenceFrame);
}

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 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();
}