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

YoFramePose.<init>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/CommonWalkingControlModules

public FootstepVisualizer(String name, String graphicListName, RobotSide robotSide, ContactablePlaneBody contactableFoot, AppearanceDefinition footstepColor,
   YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry registry)
{
 this.robotSide = robotSide;
 yoFootstepPose = new YoFramePose(name + "Pose", worldFrame, registry);
 yoFoothold = new YoFrameConvexPolygon2d(name + "Foothold", "", worldFrame, maxNumberOfContactPoints, registry);
 double coordinateSystemSize = 0.2;
 double footholdScale = 1.0;
 poseViz = new YoGraphicCoordinateSystem(name + "Pose", yoFootstepPose, coordinateSystemSize, footstepColor);
 footholdViz = new YoGraphicPolygon(name + "Foothold", yoFoothold, yoFootstepPose, footholdScale, footstepColor);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, poseViz);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, footholdViz);
 List<FramePoint2d> contactPoints2d = contactableFoot.getContactPoints2d();
 for (int i = 0; i < contactPoints2d.size(); i++)
   defaultContactPointsInSoleFrame.add(contactPoints2d.get(i).getPointCopy());
}

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

public TakeSomeStepsBehavior(DoubleYoVariable yoTime, CommunicationBridge behaviorCommunicationBridge, FullHumanoidRobotModel fullRobotModel, HumanoidReferenceFrames referenceFrames)
{
 super(TakeSomeStepsBehavior.class.getSimpleName(), behaviorCommunicationBridge);
 this.fullRobotModel = fullRobotModel;
 this.referenceFrames = referenceFrames;
 nextSideToSwing = new EnumYoVariable<>("nextSideToSwing", registry, RobotSide.class);
 nextSideToSwing.set(RobotSide.LEFT);
 doneTakingSteps = new BooleanYoVariable(prefix + "DoneTakingSteps", registry);
 currentlySwingingFoot = new EnumYoVariable<>("currentlySwingingFoot", registry, RobotSide.class, true);
 footstepSentTimer = new YoTimer(yoTime);
 footstepSentTimer.start();
 footstepPlannerGoalPose = new YoFramePose(prefix + "FootstepGoalPose", ReferenceFrame.getWorldFrame(), registry);
 footstepPlannerInitialStepPose = new YoFramePose(prefix + "InitialStepPose", ReferenceFrame.getWorldFrame(), registry);
 YoFramePose desiredLeftFootstepStatusPose = new YoFramePose(prefix + "DesiredLeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
 YoFramePose desiredRightFootstepStatusPose = new YoFramePose(prefix + "DesiredRightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
 desiredFootStatusPoses = new SideDependentList<>(desiredLeftFootstepStatusPose, desiredRightFootstepStatusPose);
 YoFramePose leftFootstepStatusPose = new YoFramePose(prefix + "LeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
 YoFramePose rightFootstepStatusPose = new YoFramePose(prefix + "RightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
 actualFootStatusPoses = new SideDependentList<>(leftFootstepStatusPose, rightFootstepStatusPose);
 latestFootstepStatus = new SideDependentList<>();
 EnumYoVariable<FootstepStatus.Status> leftFootstepStatus = new EnumYoVariable<FootstepStatus.Status>("leftFootstepStatus", registry,
    FootstepStatus.Status.class);
 EnumYoVariable<FootstepStatus.Status> rightFootstepStatus = new EnumYoVariable<FootstepStatus.Status>("rightFootstepStatus", registry,
    FootstepStatus.Status.class);
 latestFootstepStatusEnum = new SideDependentList<>(leftFootstepStatus, rightFootstepStatus);
 attachNetworkListeningQueue(footstepStatusQueue, FootstepStatus.class);
 attachNetworkListeningQueue(walkingStatusQueue, WalkingStatusMessage.class);
}

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

footstepPlannerGoalPose = new YoFramePose(prefix + "FootstepGoalPose", ReferenceFrame.getWorldFrame(), registry);
footstepPlannerInitialStepPose = new YoFramePose(prefix + "InitialStepPose", ReferenceFrame.getWorldFrame(), registry);
YoFramePose desiredLeftFootstepStatusPose = new YoFramePose(prefix + "DesiredLeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
YoFramePose desiredRightFootstepStatusPose = new YoFramePose(prefix + "DesiredRightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
desiredFootStatusPoses = new SideDependentList<>(desiredLeftFootstepStatusPose, desiredRightFootstepStatusPose);
YoFramePose leftFootstepStatusPose = new YoFramePose(prefix + "LeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
YoFramePose rightFootstepStatusPose = new YoFramePose(prefix + "RightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
actualFootStatusPoses = new SideDependentList<>(leftFootstepStatusPose, rightFootstepStatusPose);

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

public PlanHumanoidFootstepsBehavior(DoubleYoVariable yoTime, CommunicationBridge behaviorCommunicationBridge, FullHumanoidRobotModel fullRobotModel,
                  HumanoidReferenceFrames referenceFrames)
{
 super(PlanHumanoidFootstepsBehavior.class.getSimpleName(), behaviorCommunicationBridge);
 shorterGoalLength.set(1.5);
 this.fullRobotModel = fullRobotModel;
 this.referenceFrames = referenceFrames;
 footstepPlanner = createFootstepPlanner();
 nextSideToSwing = new EnumYoVariable<>("nextSideToSwing", registry, RobotSide.class);
 nextSideToSwing.set(RobotSide.LEFT);
 plannerTimer = new YoTimer(yoTime);
 plannerTimer.start();
 footstepPlannerGoalPose = new YoFramePose(prefix + "FootstepGoalPose", ReferenceFrame.getWorldFrame(), registry);
 footstepPlannerInitialStepPose = new YoFramePose(prefix + "InitialStepPose", ReferenceFrame.getWorldFrame(), registry);
 attachNetworkListeningQueue(planarRegionsListQueue, PlanarRegionsListMessage.class);
 requestedPlanarRegion.set(false);
}

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

public FootstepGeneratorVisualizer(int maxNumberOfContacts, int maxPointsPerContact, YoVariableRegistry parentRegistry,
   YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList("FootstepGeneratorVisualizer");
 AppearanceDefinition[] appearances = new AppearanceDefinition[] { YoAppearance.Red(), YoAppearance.Green(), YoAppearance.Blue(), YoAppearance.Purple() };
 for (int i = 0; i < maxNumberOfContacts; i++)
 {
   YoFramePose contactPose = new YoFramePose("contactPose" + i, "", worldFrame, registry);
   contactPoses.add(contactPose);
   YoFrameConvexPolygon2d contactPolygon = new YoFrameConvexPolygon2d("contactPolygon" + i, "", worldFrame, maxPointsPerContact, registry);
   contactPolygonsWorld.add(contactPolygon);
   YoGraphicPolygon dynamicGraphicPolygon = new YoGraphicPolygon("contactPolygon" + i, contactPolygon, contactPose, 1.0, appearances[i
      % appearances.length]);
   yoGraphicsList.add(dynamicGraphicPolygon);
 }
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 parentRegistry.addChild(registry);
}

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

footstepPlannerInitialStancePose = new YoFramePose(prefix + "footstepPlannerInitialStancePose", ReferenceFrame.getWorldFrame(), registry);
latestFootstepStatusEnum = new SideDependentList<>(leftFootstepStatus, rightFootstepStatus);
YoFramePose desiredLeftFootstepStatusPose = new YoFramePose(prefix + "DesiredLeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
YoFramePose desiredRightFootstepStatusPose = new YoFramePose(prefix + "DesiredRightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
desiredFootStatusPoses = new SideDependentList<>(desiredLeftFootstepStatusPose, desiredRightFootstepStatusPose);
YoFramePose leftFootstepStatusPose = new YoFramePose(prefix + "LeftFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
YoFramePose rightFootstepStatusPose = new YoFramePose(prefix + "RightFootstepStatusPose", ReferenceFrame.getWorldFrame(), registry);
actualFootStatusPoses = new SideDependentList<>(leftFootstepStatusPose, rightFootstepStatusPose);

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

viz.update();
YoGraphicCoordinateSystem coordinateSystem = new YoGraphicCoordinateSystem("coord", new YoFramePose("World", ReferenceFrame.getWorldFrame(), null), 1);

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 UserDesiredHandPoseControllerCommandGenerator(final CommandInputManager controllerCommandInputManager, final FullHumanoidRobotModel fullRobotModel, double defaultTrajectoryTime, YoVariableRegistry parentRegistry)
 userDesiredHandPose = new YoFramePose("userDesiredHandPose", ReferenceFrame.getWorldFrame(), registry);

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

public UserDesiredFootPoseControllerCommandGenerator(final CommandInputManager controllerCommandInputManager, final FullHumanoidRobotModel fullRobotModel, double defaultTrajectoryTime, YoVariableRegistry parentRegistry)
 userDesiredFootPose = new YoFramePose("userDesiredFootPose", ReferenceFrame.getWorldFrame(), registry);

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

yoStateEstimatorInWorldFramePose = new YoFramePose("stateEstimatorInWorldFramePose", worldFrame, registry);
yoCorrectedPelvisPoseInWorldFrame = new YoFramePose("correctedPelvisPoseInWorldFrame", worldFrame, registry);
yoIterativeClosestPointPoseInWorldFrame = new YoFramePose("iterativeClosestPointPoseInWorldFrame", worldFrame, registry);

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

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

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

yoStartOffsetErrorPose_InWorldFrame = new YoFramePose("yoStartOffsetErrorPose_InWorldFrame", worldFrame, registry);
yoGoalOffsetErrorPose_InWorldFrame = new YoFramePose("yoGoalOffsetErrorPose_InWorldFrame", worldFrame, registry);
yoInterpolatedOffset_InWorldFrame = new YoFramePose("yoInterpolatedOffset_InWorldFrame", worldFrame, registry);

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

yoDesiredPose = new YoFramePose(namePrefix + "DesiredPose", worldFrame, registry);

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/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/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());

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

YoFramePose footIK = new YoFramePose(sidePrefix + "FootIK", "", HumanoidReferenceFrames.getWorldFrame(), registry);
feetIKs.put(robotSide, footIK);
YoFramePose handIK = new YoFramePose(sidePrefix + "HandIK", "", HumanoidReferenceFrames.getWorldFrame(), registry);
handIKs.put(robotSide, handIK);

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

yoDesiredControlFramePose = new YoFramePose(namePrefix + "Desired", worldFrame, registry);