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

YoFramePose.set介绍

[英]Sets this frame pose to the origin of the passed in reference frame.
[中]将此帧姿势设置为传入参照帧的原点。

代码示例

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/CommonWalkingControlModules

originalDesiredYoPose.set(originalDesiredPose);
originalDesiredPose.changeFrame(jacobian.getBaseFrame());

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/CommonWalkingControlModules

public void variableChanged(YoVariable<?> v)
  {
   if (userUpdateDesiredPelvisPose.getBooleanValue())
   {
     framePose.setToZero(pelvisFrame);
     framePose.changeFrame(midFeetZUpFrame);
     userDesiredPelvisPose.set(framePose);
     userUpdateDesiredPelvisPose.set(false);
   }
  }
});

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

@Override
  public void doControl()
  {
   wristJoint.getTransformToWorld(transform);
   wristJointPose.setPose(transform);
   yoWristJointPose.set(wristJointPose);

   wristJoint.getTransformToWorld(transform);
   transform.transform(wristToHandControlFrame, tangentVector);
   handControlFramePose.setPose(transform);
   handControlFramePose.translate(tangentVector);
   yoHandControlFramePose.set(handControlFramePose);
   handControlFramePose.getPosition(handControlFramePositionInWorld);

   efpHandControlFrame.setPosition(handControlFramePositionInWorld);

//      efpGravity.setForce(0.0, 0.0, -gGRAVITY * MASSDRILL);
//      efpGravity.setForce(0.0, 0.0, 0.0);
//      efpWrist.setForce(exponentialCutForceModel(efpHandControlFrame));
   efpWrist.setForce(quadraticCutForceModel(efpHandControlFrame));

  }

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

@Override
  public void doControl()
  {
   wristJoint.getTransformToWorld(transform);
   wristJointPose.setPose(transform);
   yoWristJointPose.set(wristJointPose);

   wristJoint.getTransformToWorld(transform);
   transform.transform(wristToHandControlFrame, tangentVector);
   handControlFramePose.setPose(transform);
   handControlFramePose.translate(tangentVector);
   yoHandControlFramePose.set(handControlFramePose);
   handControlFramePose.getPosition(handControlFramePositionInWorld);

   efpHandControlFrame.setPosition(handControlFramePositionInWorld);

//      efpGravity.setForce(0.0, 0.0, -gGRAVITY * MASSDRILL);
//      efpGravity.setForce(0.0, 0.0, 0.0);
//      efpWrist.setForce(exponentialCutForceModel(efpHandControlFrame));
   efpWrist.setForce(quadraticCutForceModel(efpHandControlFrame));

  }

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

public void setInterpolatorInputs(FramePose startOffsetError, FramePose goalOffsetError, double alphaFilterPosition)
{
 startOffsetErrorPose.setPoseIncludingFrame(startOffsetError);
 goalOffsetErrorPose.setPoseIncludingFrame(goalOffsetError);
 if (!isRotationCorrectionEnabled.getBooleanValue())
 {
   startOffsetErrorPose.setYawPitchRoll(0.0, 0.0, 0.0);
   goalOffsetErrorPose.setYawPitchRoll(0.0, 0.0, 0.0);
 }
 //scs feedback only
 yoStartOffsetErrorPose_InWorldFrame.set(startOffsetErrorPose);
 yoGoalOffsetErrorPose_InWorldFrame.set(goalOffsetErrorPose);
 stateEstimatorReferenceFrame.update();
 
 updateStartAndGoalOffsetErrorTranslation();
 updateStartAndGoalOffsetErrorRotation();
 
 /////////////////////
 initializeAlphaFilter(alphaFilterPosition);
 
 updateMaxTranslationAlphaVariationSpeed();
 updateMaxRotationAlphaVariationSpeed();
}

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

footstepPoseInWorld.setPosition(position);
contactPose.set(footstepPoseInWorld);

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

soleFramePose.changeFrame(ReferenceFrame.getWorldFrame());
this.soleFramePose.set(soleFramePose);

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

public void updateSteeringWheel(FramePoint center, FrameVector rotationAxis, FrameVector zeroAxis)
{
 steeringWheelCenter.setAndMatchFrame(center);
 steeringWheelRotationAxis.setAndMatchFrame(rotationAxis);
 steeringWheelRotationAxis.normalize();
 steeringWheelZeroAxis.setAndMatchFrame(zeroAxis);
 steeringWheelZeroAxis.normalize();
 steeringWheelFrame.update();
 steeringWheelFramePose.setToZero(steeringWheelFrame);
 steeringWheelFramePose.changeFrame(worldFrame);
 yoSteeringWheelFramePose.set(steeringWheelFramePose);
}

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

private void placeCartesianTargetsAtActuals()
{
 reader.read();
 for (RobotSide robotSide : RobotSide.values())
 {
   YoFramePose yoFramePose = feetIKs.get(robotSide);
   FramePose framePose = new FramePose(fullRobotModel.getFoot(robotSide).getBodyFixedFrame());
   framePose.changeFrame(ReferenceFrame.getWorldFrame());
   yoFramePose.set(framePose);
   yoFramePose = handIKs.get(robotSide);
   framePose = new FramePose(fullRobotModel.getHand(robotSide).getBodyFixedFrame());
   framePose.changeFrame(ReferenceFrame.getWorldFrame());
   yoFramePose.set(framePose);
 }
 ReferenceFrame pelvisFrame = fullRobotModel.getPelvis().getBodyFixedFrame();
 FramePose framePose = new FramePose(pelvisFrame);
 framePose.changeFrame(ReferenceFrame.getWorldFrame());
 System.out.println("Pelvis is at " + framePose);
}

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

private void placeCartesianTargetsAtActuals()
{
 reader.read();
 for (RobotSide robotSide : RobotSide.values())
 {
   YoFramePose yoFramePose = feetIKs.get(robotSide);
   FramePose framePose = new FramePose(fullRobotModel.getFoot(robotSide).getBodyFixedFrame());
   framePose.changeFrame(ReferenceFrame.getWorldFrame());
   yoFramePose.set(framePose);
   yoFramePose = handIKs.get(robotSide);
   framePose = new FramePose(fullRobotModel.getHand(robotSide).getBodyFixedFrame());
   framePose.changeFrame(ReferenceFrame.getWorldFrame());
   yoFramePose.set(framePose);
 }
 ReferenceFrame pelvisFrame = fullRobotModel.getPelvis().getBodyFixedFrame();
 FramePose framePose = new FramePose(pelvisFrame);
 framePose.changeFrame(ReferenceFrame.getWorldFrame());
 System.out.println("Pelvis is at " + framePose);
}

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

public void doControl(long timestamp)
{
 if (pelvisPoseCorrectionCommunicator != null)
 {
   pelvisReferenceFrame.update();
   checkForNewPacket();
   pelvisReferenceFrame.getTransformToDesiredFrame(stateEstimatorPelvisTransformInWorld, worldFrame);
   outdatedPoseUpdater.putStateEstimatorTransformInBuffer(stateEstimatorPelvisTransformInWorld, timestamp);
      offsetErrorInterpolator.interpolateError(correctedPelvisPoseInWorldFrame);
   /////for SCS feedback
   stateEstimatorInWorldFramePose.setPose(stateEstimatorPelvisTransformInWorld);
   yoStateEstimatorInWorldFramePose.set(stateEstimatorInWorldFramePose);
   /////
      updateCorrectedPelvis();
   pelvisReferenceFrame.update();
   checkForNeedToSendCorrectionUpdate();
 }
}

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

@Override
public void onBehaviorEntered()
{
 hasTargetBeenProvided.set(false);
 haveFootstepsBeenGenerated.set(false);
 hasInputBeenSet.set(false);
 footstepListBehavior.initialize();
 robotPose.setToZero(fullRobotModel.getRootJoint().getFrameAfterJoint());
 robotPose.changeFrame(worldFrame);
 robotYoPose.set(robotPose);
 robotPose.getPosition(robotLocation);
 robotPose.getOrientation(robotOrientation);
 this.targetLocation.set(robotLocation);
 this.targetOrientation.set(robotOrientation);
}

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

private void updateCorrectedPelvis()
{
 if(!hasOneIcpPacketEverBeenReceived.getBooleanValue())
   correctedPelvisPoseInWorldFrame.setPose(stateEstimatorPelvisTransformInWorld);
 
 correctedPelvisPoseInWorldFrame.getPose(correctedPelvisTransformInWorldFrame);
 
 correctedPelvisTransformInWorldFrame.getTranslation(correctedPelvisTranslation);
 iterativeClosestPointInWorldFramePose.getPosition(localizationTranslation);
 
 iterativeClosestPointInWorldFramePose.getOrientationIncludingFrame(localizationOrientation);
 correctedPelvisOrientation.setIncludingFrame(worldFrame, correctedPelvisTransformInWorldFrame);
 
 errorBetweenCorrectedAndLocalizationTransform_Rotation.setOrientationFromOneToTwo(localizationOrientation, correctedPelvisOrientation);
 errorBetweenCorrectedAndLocalizationTransform_Rotation.getQuaternion(errorBetweenCorrectedAndLocalizationQuaternion_Rotation);
 errorBetweenCorrectedAndLocalizationTransform_Translation.sub(localizationTranslation, correctedPelvisTranslation);
 
 ////// for SCS feedback
 yoCorrectedPelvisPoseInWorldFrame.set(correctedPelvisPoseInWorldFrame);
 //////
 errorBetweenCorrectedAndLocalizationTransform.setTranslation(errorBetweenCorrectedAndLocalizationTransform_Translation);
 errorBetweenCorrectedAndLocalizationTransform.setRotation(errorBetweenCorrectedAndLocalizationQuaternion_Rotation);
 
 rootJoint.setPositionAndRotation(correctedPelvisTransformInWorldFrame);
}

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

yoIterativeClosestPointPoseInWorldFrame.set(iterativeClosestPointInWorldFramePose);
totalErrorBetweenPelvisAndLocalizationTransform.getTranslation(totalErrorTranslation);
totalErrorTranslation_X.set(totalErrorTranslation.getX());

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

footstepPlannerInitialStancePose.set(tempStanceFootPose);

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

wristJointPose = new FramePose(HumanoidReferenceFrames.getWorldFrame(), transform);
yoWristJointPose = new YoFramePose("wristJointPose", HumanoidReferenceFrames.getWorldFrame(), registry);
yoWristJointPose.set(wristJointPose);
YoGraphicCoordinateSystem yoWristCoordinateSystem = new YoGraphicCoordinateSystem("wristCoordinateSystemViz", yoWristJointPose, 0.1, YoAppearance.Red());
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/DarpaRoboticsChallenge

wristJointPose = new FramePose(HumanoidReferenceFrames.getWorldFrame(), transform);
yoWristJointPose = new YoFramePose("wristJointPose", HumanoidReferenceFrames.getWorldFrame(), registry);
yoWristJointPose.set(wristJointPose);
YoGraphicCoordinateSystem yoWristCoordinateSystem = new YoGraphicCoordinateSystem("wristCoordinateSystemViz", yoWristJointPose, 0.1, YoAppearance.Red());
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/IHMCHumanoidBehaviors

footstepPlannerGoalPose.set(goalPose);
footstepPlannerInitialStepPose.set(tempStanceFootPose);