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

YoFramePose介绍

暂无

代码示例

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

public YoReferencePose(String frameName, ReferenceFrame parentFrame, YoVariableRegistry registry)
{
 super(frameName, parentFrame);
 yoFramePose = new YoFramePose(frameName + "_", this, registry);
}

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

public void set(FramePose framePose)
{
 set(framePose, true);
}

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

public YoGraphicShape(String name, Graphics3DObject linkGraphics, YoFramePose framePose, double scale)
{
 this(name, linkGraphics, framePose.getPosition(), framePose.getOrientation(), scale);
}

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

public void getFramePoseIncludingFrame(FramePose framePoseToPack)
{
 framePoseToPack.setToZero(getReferenceFrame());
 getFramePose(framePoseToPack);
}

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

public void set(YoFramePose yoFramePose)
{
 set(yoFramePose.getPosition().getFrameTuple(), yoFramePose.getOrientation().getFrameOrientation());
}

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

yoWristJointPose = new YoFramePose("wristJointPose", HumanoidReferenceFrames.getWorldFrame(), registry);
yoWristJointPose.set(wristJointPose);
YoGraphicCoordinateSystem yoWristCoordinateSystem = new YoGraphicCoordinateSystem("wristCoordinateSystemViz", yoWristJointPose, 0.1, YoAppearance.Red());
handControlFramePose = new FramePose(HumanoidReferenceFrames.getWorldFrame(), transform);
handControlFramePose.translate(tangentVector);
yoHandControlFramePose = new YoFramePose("handControlFrame",HumanoidReferenceFrames.getWorldFrame(), registry);
yoHandControlFramePose.set(handControlFramePose);
YoGraphicCoordinateSystem yoToolTip = new YoGraphicCoordinateSystem("toolTipViz", yoHandControlFramePose, 0.1, YoAppearance.Yellow());

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

public void get(Vector3d translation)
  {
   yoFramePose.getPosition().get(translation);
  }
}

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

midFeetZUpFrame = commonHumanoidReferenceFrames.getMidFeetZUpFrame();
pelvisFrame = commonHumanoidReferenceFrames.getPelvisFrame();
userDesiredPelvisPose = new YoFramePose("userDesiredPelvisPose", midFeetZUpFrame, registry);
userDesiredPelvisPose.attachVariableChangedListener(new VariableChangedListener()
userDesiredPelvisPose.getOrientation().attachVariableChangedListener(new VariableChangedListener()

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

originalDesiredYoPose = new YoFramePose(prefix + "originalDesiredYoPose", ReferenceFrame.getWorldFrame(), registry);
  adjustedDesiredPose = new YoFramePose(prefix + "adjustedDesiredPose", ReferenceFrame.getWorldFrame(), registry);
  desiredTransform = new RigidBodyTransform();
  adjustedDesiredPosition = new FramePoint(ReferenceFrame.getWorldFrame());
if (visualize)
  yoDesiredFootPositionGraphic = new YoGraphicPosition(prefix + "DesiredFootPosition", originalDesiredYoPose.getPosition(), 0.025, YoAppearance.Yellow(),
     YoGraphicPosition.GraphicType.BALL);
  yoGraphicsListRegistry.registerYoGraphic("SingularityCollapseAvoidance", yoDesiredFootPositionGraphic);
  yoCorrectedDesiredFootPositionGraphic = new YoGraphicPosition(prefix + "CorrectedDesiredFootPosition", adjustedDesiredPose.getPosition(), 0.025,
     YoAppearance.Blue(), YoGraphicPosition.GraphicType.BALL);
  yoGraphicsListRegistry.registerYoGraphic("SingularityCollapseAvoidance", yoCorrectedDesiredFootPositionGraphic);

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

yoStartOffsetErrorPose_InWorldFrame.setPosition(updatedStartOffset_Translation);
yoStartOffsetErrorPose_InWorldFrame.setOrientation(updatedStartOffset_Rotation_quat);
yoGoalOffsetErrorPose_InWorldFrame.setPosition(updatedGoalOffset_Translation);
yoGoalOffsetErrorPose_InWorldFrame.setOrientation(updatedGoalOffset_Rotation_quat);
yoInterpolatedOffset_InWorldFrame.set(offsetPoseToPack);

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

public DoubleYoVariable getYoYaw()
  {
   return getOrientation().getYaw();
  }
}

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

@Override
  public void variableChanged(YoVariable<?> v)
  {
   if (userDesiredSetHandPoseToActual.getBooleanValue())
   {
     ReferenceFrame referenceFrame = getReferenceFrameToUse();
     ReferenceFrame wristFrame = fullRobotModel.getEndEffectorFrame(userHandPoseSide.getEnumValue(), LimbName.ARM);
     FramePose currentPose = new FramePose(wristFrame);
     currentPose.changeFrame(referenceFrame);
     userDesiredHandPose.setPosition(currentPose.getFramePointCopy().getPointCopy());
     userDesiredHandPose.setOrientation(currentPose.getFrameOrientationCopy().getQuaternionCopy());
     userDesiredSetHandPoseToActual.set(false);
   }
  }
});

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

this.desiredFootStatusPoses.get(stanceSide).getFramePose(tempStanceFootPose);
  goalPose.setZ(tempStanceFootPose.getZ());
footstepPlannerGoalPose.set(goalPose);
footstepPlannerInitialStepPose.set(tempStanceFootPose);

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

originalDesiredYoPose.set(originalDesiredPose);
originalDesiredPose.changeFrame(jacobian.getBaseFrame());
adjustedDesiredOrientation.setToZero(adjustedFootFrame);
adjustedDesiredOrientation.changeFrame(ReferenceFrame.getWorldFrame());
adjustedDesiredPose.setPosition(adjustedDesiredPosition);

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

public SingleFootstepVisualizer(RobotSide robotSide, int maxContactPoints, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 Integer index = indices.get(robotSide);
 String namePrefix = robotSide.getLowerCaseName() + "Foot" + index;
 YoGraphicsList yoGraphicsList = new YoGraphicsList(namePrefix);
 this.robotSide = robotSide;
 ArrayList<Point2d> polyPoints = new ArrayList<Point2d>();
 yoContactPoints = new YoFramePoint[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint(namePrefix + "ContactPoint" + i, ReferenceFrame.getWorldFrame(), registry);
   yoContactPoints[i].set(0.0, 0.0, -1.0);
   YoGraphicPosition baseControlPointViz = new YoGraphicPosition(namePrefix + "Point" + i, yoContactPoints[i], 0.01, YoAppearance.Blue());
   yoGraphicsList.add(baseControlPointViz);
   polyPoints.add(new Point2d());
 }
 footPolygon = new YoFrameConvexPolygon2d(namePrefix + "yoPolygon", "", ReferenceFrame.getWorldFrame(), maxContactPoints, registry);
 footPolygon.setConvexPolygon2d(new ConvexPolygon2d(polyPoints));
 soleFramePose = new YoFramePose(namePrefix + "polygonPose", "", ReferenceFrame.getWorldFrame(), registry);
 soleFramePose.setXYZ(0.0, 0.0, -1.0);
 footPolygonViz = new YoGraphicPolygon(namePrefix + "graphicPolygon", footPolygon, soleFramePose, 1.0, footPolygonAppearances.get(robotSide));
 yoGraphicsList.add(footPolygonViz);
 if (yoGraphicsListRegistry != null)
 {
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
   yoGraphicsListRegistry.registerGraphicsUpdatableToUpdateInAPlaybackListener(footPolygonViz);
 }
 index++;
 indices.set(robotSide, index);
}

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

public void variableChanged(YoVariable<?> v)
  {
   if (userDoFootPose.getBooleanValue())
   {
     userDesiredFootPose.getFramePose(framePose);
     ReferenceFrame soleZUpFrame = ankleZUpFrames.get(userFootPoseSide.getEnumValue());
     soleZUpFrame.update();
     framePose.setIncludingFrame(soleZUpFrame, framePose.getGeometryObject());
     framePose.changeFrame(ReferenceFrame.getWorldFrame());
     System.out.println("framePose " + framePose);
     FootTrajectoryCommand footTrajectoryControllerCommand = new FootTrajectoryCommand();
          FrameSE3TrajectoryPoint trajectoryPoint = new FrameSE3TrajectoryPoint(ReferenceFrame.getWorldFrame());
     trajectoryPoint.setTime(userDesiredFootPoseTrajectoryTime.getDoubleValue());
     trajectoryPoint.setPosition(framePose.getFramePointCopy());
     trajectoryPoint.setOrientation(framePose.getFrameOrientationCopy());
     trajectoryPoint.setLinearVelocity(new Vector3d());
     trajectoryPoint.setAngularVelocity(new Vector3d());
     footTrajectoryControllerCommand.addTrajectoryPoint(trajectoryPoint);
          footTrajectoryControllerCommand.setRobotSide(userFootPoseSide.getEnumValue());
     System.out.println("Submitting " + footTrajectoryControllerCommand);
     controllerCommandInputManager.submitCommand(footTrajectoryControllerCommand);
          userDoFootPose.set(false);
   }
  }
});

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

yoWristJointPose = new YoFramePose("wristJointPose", HumanoidReferenceFrames.getWorldFrame(), registry);
yoWristJointPose.set(wristJointPose);
YoGraphicCoordinateSystem yoWristCoordinateSystem = new YoGraphicCoordinateSystem("wristCoordinateSystemViz", yoWristJointPose, 0.1, YoAppearance.Red());
handControlFramePose = new FramePose(HumanoidReferenceFrames.getWorldFrame(), transform);
handControlFramePose.translate(tangentVector);
yoHandControlFramePose = new YoFramePose("handControlFrame",HumanoidReferenceFrames.getWorldFrame(), registry);
yoHandControlFramePose.set(handControlFramePose);
YoGraphicCoordinateSystem yoToolTip = new YoGraphicCoordinateSystem("toolTipViz", yoHandControlFramePose, 0.1, YoAppearance.Yellow());

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

public double getZ()
{
 return getPosition().getZ();
}

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

public DoubleYoVariable getYoPitch()
{
 return getOrientation().getPitch();
}

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

Quat4d desiredFootOrientationInWorld = status.getDesiredFootOrientationInWorld();
desiredFootStatusPoses.get(side).setPosition(desiredFootPositionInWorld);
desiredFootStatusPoses.get(side).setOrientation(desiredFootOrientationInWorld);
actualFootStatusPoses.get(side).setPosition(actualFootPositionInWorld);
actualFootStatusPoses.get(side).setOrientation(actualFootOrientationInWorld);