本文整理了Java中us.ihmc.robotics.math.frames.YoFramePoint2d.getFrameTuple2d()方法的一些代码示例，展示了YoFramePoint2d.getFrameTuple2d()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.getFrameTuple2d()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：getFrameTuple2d

YoFramePoint2d.getFrameTuple2d介绍

暂无

代码示例

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

public FramePoint2d getStanceExitCMP()
{
 return stanceExitCMP.getFrameTuple2d();
}

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 FramePoint2d getControllerReferenceICP()
{
 return controllerReferenceICP.getFrameTuple2d();
}

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

public void getDesiredCMP(FramePoint2d desiredCMPToPack)
{
 controllerFeedbackCMP.getFrameTuple2d(desiredCMPToPack);
}

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

public FramePoint2d getStanceEntryCMP()
{
 return stanceEntryCMP.getFrameTuple2d();
}

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

public void getControllerReferenceCMP(FramePoint2d framePointToPack)
{
 controllerReferenceCMP.getFrameTuple2d(framePointToPack);
}

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

public void getFootstepSolution(int footstepIndex, FramePoint2d footstepSolutionToPack)
{
 footstepSolutions.get(footstepIndex).getFrameTuple2d(footstepSolutionToPack);
}

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

public double distance(FramePoint2d framePoint2d)
  {
   return getFrameTuple2d().distance(framePoint2d);
  }
}

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

public FramePoint2d getFrameVertex(int vertexIndex)
{
 checkIndexInBoundaries(vertexIndex);
 return yoFramePoints.get(vertexIndex).getFrameTuple2d();
}

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

public double getXYPlaneDistance(YoFramePoint2d yoFramePoint2d)
{
 return getXYPlaneDistance(yoFramePoint2d.getFrameTuple2d());
}

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

public double getICPErrorMagnitude()
{
 momentumBasedController.getCapturePoint(capturePoint2d);
 return capturePoint2d.distance(yoDesiredCapturePoint.getFrameTuple2d());
}

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

private void putYoValuesIntoFrameConvexPolygon2d()
{
 try
 {
   convexPolygon2dForReading.clear(referenceFrame);
   for (int i = 0; i < numVertices.getIntegerValue(); i++)
    convexPolygon2dForReading.addVertex(yoFramePoints.get(i).getFrameTuple2d());
   convexPolygon2dForReading.update();
 }
 catch (Exception e)
 {
   System.err.println("In YoFrameConvexPolygon2d.java: " + e.getClass().getSimpleName() + " while calling putYoValuesIntoFrameConvexPolygon2d().");
 }
}

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

private void resetFootstepRegularizationTask()
{
 int numberOfFootstepsToConsider = clipNumberOfFootstepsToConsiderToProblem(this.numberOfFootstepsToConsider.getIntegerValue());
 for (int i = 0; i < numberOfFootstepsToConsider; i++)
   solver.resetFootstepRegularization(i, upcomingFootstepLocations.get(i).getFrameTuple2d());
}

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

private void computeTwoCMPOffsets(ArrayList<YoFramePoint2d> upcomingFootstepLocations, int numberOfFootstepsToConsider)
{
 for (int i = 0; i < numberOfFootstepsToConsider; i++)
 {
   FrameVector2d entryOffset = entryOffsets.get(i);
   FrameVector2d exitOffset = exitOffsets.get(i);
   entryOffset.setToZero(worldFrame);
   exitOffset.setToZero(worldFrame);
   entryOffset.setByProjectionOntoXYPlane(referenceCMPsCalculator.getEntryCMPs().get(i + 1).getFrameTuple());
   exitOffset.setByProjectionOntoXYPlane(referenceCMPsCalculator.getExitCMPs().get(i + 1).getFrameTuple());
   entryOffset.sub(upcomingFootstepLocations.get(i).getFrameTuple2d());
   exitOffset.sub(upcomingFootstepLocations.get(i).getFrameTuple2d());
 }
}

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/DarpaRoboticsChallenge

@Override
  public void update()
  {
   // update the yoCapturePoint
//      yoCapturePoint.set(capturePointUpdatedFromSCS);

   // update the bipedSupportPolygons
   updateBipedSupportPolygons();

   // update the footDesiredCenterOfPressures
   for (RobotSide robotSide : RobotSide.values)
   {
     ContactableFoot contactableFoot = feet.get(robotSide);
     FramePoint2d desiredCop = desiredCoPsUpdatedFromSCS.get(robotSide).getFrameTuple2d();
     setDesiredCenterOfPressure(contactableFoot, desiredCop);
   }
  }
}

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

@Override
  public void update()
  {
   if (UPDATE_CAPTURE_POINT_FROM_SCS)
   {
     // update the yoCapturePoint
     yoCapturePoint.set(capturePointUpdatedFromSCS);
   }

   // update the bipedSupportPolygons
   updateBipedSupportPolygons();

   // update the footDesiredCenterOfPressures
   for (RobotSide robotSide : RobotSide.values)
   {
     ContactableFoot contactableFoot = feet.get(robotSide);
     FramePoint2d desiredCop = desiredCoPsUpdatedFromSCS.get(robotSide).getFrameTuple2d();
     setDesiredCenterOfPressure(contactableFoot, desiredCop);
   }
  }
}

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

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());
}