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

YoFramePoseUsingYawPitchRoll介绍

[英]Defines a 3D pose in a fixed-frame as YoFramePose3D but use the Euler angles to represent the orientation part.
[中]将固定帧中的三维姿势定义为YoFramePose3D，但使用Euler角度来表示方向零件。

代码示例

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

private YoGraphicPolygon createStaticFootstep(String name, FramePose3D framePose, AppearanceDefinition appearance, YoVariableRegistry registry,
                       YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.set(framePose);
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + "YoGraphicPolygon", footstepYoFramePose, defaultFootPolygon.getNumberOfVertices(),
                                  registry, 1.0, appearance);
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
 return footstepYoGraphicPolygon;
}

代码示例来源：origin: us.ihmc/ihmc-graphics-description

public YoGraphicPolygon(String name, YoFrameConvexPolygon2D yoFrameConvexPolygon2d, YoFramePoseUsingYawPitchRoll framePose, double scale,
            AppearanceDefinition appearance)
{
 this(name, yoFrameConvexPolygon2d, framePose.getPosition(), framePose.getOrientation(), scale, appearance);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

private void set(Quaternion newRotation)
{
 yoFramePose.setOrientation(newRotation);
}

代码示例来源：origin: us.ihmc/ihmc-yovariables

public void setXYZYawPitchRoll(double[] pose)
{
 setXYZ(pose[0], pose[1], pose[2]);
 setYawPitchRoll(pose[3], pose[4], pose[5]);
}

代码示例来源：origin: us.ihmc/ihmc-yovariables

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

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

YoFramePoseUsingYawPitchRoll yoPose = new YoFramePoseUsingYawPitchRoll("footPose" + sideName + i, worldFrame, registry);
   yoPose.setToNaN();
   solePosesForVisualization.get(robotSide).add(yoPose);
   YoGraphicPolygon footstepViz = new YoGraphicPolygon("footstep" + sideName + i, defaultPolygon, yoPose, 1.0, appearance);
startStep = new YoFramePoseUsingYawPitchRoll("startFootPose", worldFrame, registry);
startStep.setToNaN();
YoGraphicPolygon stanceViz = new YoGraphicPolygon("startFootPose", defaultPolygon, startStep, 1.0, YoAppearance.Black());
graphicsListRegistry.registerYoGraphic("viz", stanceViz);
 YoFramePoseUsingYawPitchRoll step = new YoFramePoseUsingYawPitchRoll("step" + i, worldFrame, registry);
 step.setToNaN();
 stepPosesTaken.add(step);
 YoGraphicPolygon polygon = new YoGraphicPolygon("step" + i, defaultPolygon, step, 1.0, YoAppearance.Gray());
 YoFramePoseUsingYawPitchRoll pose = new YoFramePoseUsingYawPitchRoll("PolygonPose" + i, worldFrame, registry);
 pose.setToNaN();
 visiblePolygons.add(polygon);
 visiblePolygonPoses.add(pose);
 YoGraphicPolygon visualization = new YoGraphicPolygon("Polygon" + i, polygon, pose.getPosition(), pose.getOrientation(), 1.0, 0.02,
                            new YoAppearanceRGBColor(Color.BLUE, 0.8));
 polygonVisualizations.add(visualization);
   visiblePolygonPoses.get(polygonIdx).setToNaN();
   visiblePolygonPoses.get(polygonIdx).set(pose);
   visiblePolygons.get(polygonIdx).set(planarRegion.getConvexHull());
    solePosesForVisualization.get(robotSide).get(hideIdx).setToNaN();

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

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

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private boolean testTranslationInterpolationToRandomTargets(final Robot robot, YoVariableRegistry registry, int numTargets)
   throws SimulationExceededMaximumTimeException
 YoFramePoseUsingYawPitchRoll target = new YoFramePoseUsingYawPitchRoll("target_", ReferenceFrame.getWorldFrame(), registry);
 RigidBodyTransform[] targets = createRandomCorrectionTargets(numTargets);
 boolean success = true;
   target.setYawPitchRoll(yawPitchRoll);
   target.setXYZ(targetTranslation.getX(), targetTranslation.getY(), targetTranslation.getZ());

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

swingOverPlanarRegionsTrajectoryExpander.attachVisualizer(this::update);
solePose = new YoFramePoseUsingYawPitchRoll("SolePose", WORLD, registry);
AppearanceDefinition bubble = YoAppearance.LightBlue();
bubble.setTransparency(0.5);
collisionSphere = new YoGraphicEllipsoid("CollisionSphere", solePose.getPosition(), solePose.getOrientation(), bubble, new Vector3D());
stanceFootGraphic = new YoGraphicPolygon("StanceFootGraphic", footPolygon.getNumberOfVertices(), registry, true, 1.0, YoAppearance.Blue());
swingStartGraphic = new YoGraphicPolygon("SwingStartGraphic", footPolygon.getNumberOfVertices(), registry, true, 1.0, YoAppearance.Green());

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

private void createCandidateFootstep(String name, int index, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + index + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.setToNaN();
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + index + "YoGraphicPolygon", footstepYoFramePose,
                                  defaultFootPolygon.getNumberOfVertices(), registry, 1.0, YoAppearance.Red());
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 candidateFootstepPolygons.put(index, footstepYoGraphicPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public void get(Vector3D translation)
  {
   translation.set(yoFramePose.getPosition());
  }
}

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

YoFramePoseUsingYawPitchRoll yoFootstepPose = new YoFramePoseUsingYawPitchRoll("footPose" + i, worldFrame, vizRegistry);
yoFootstepPose.set(footstepPose);
yoFootstepPose.setZ(yoFootstepPose.getZ() + (footstep.getRobotSide() == RobotSide.RIGHT ? 0.001 : 0.0));

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public void get(Quaternion rotation)
{
 yoFramePose.getOrientation().getQuaternion(rotation);
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

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

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

   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/ihmc-humanoid-robotics

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 YoFramePoint3D[maxContactPoints];
 for (int i = 0; i < maxContactPoints; i++)
 {
   yoContactPoints[i] = new YoFramePoint3D(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.set(new ConvexPolygon2D(Vertex2DSupplier.asVertex2DSupplier(polyPoints)));
 soleFramePose = new YoFramePoseUsingYawPitchRoll(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/ihmc-common-walking-control-modules-test

private void updateNextFootsteps(int stepIndex)
{
 int numberOfStepToUpdate =
    (numberOfFootstepsForTest - stepIndex) < numberOfFootstepsToConsider ? (numberOfFootstepsForTest - stepIndex) : numberOfFootstepsToConsider;
 int nextStepIndex;
 for (nextStepIndex = 0; nextStepIndex < numberOfStepToUpdate; nextStepIndex++)
 {
   nextFootstepPoses.get(nextStepIndex).set(footstepList.get(stepIndex + nextStepIndex).getFootstepPose());
 }
 for (; nextStepIndex < numberOfFootstepsToConsider; nextStepIndex++)
 {
   nextFootstepPoses.get(nextStepIndex).setToNaN();
 }
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

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

代码示例来源：origin: us.ihmc/ihmc-footstep-planning-test

polygonToSnapPose.setPosition(nonSnappedPosition);
polygonToSnapPose.setOrientation(nonSnappedOrientation);
polygonToSnapViz.update();
  snappedPolygonPose.setToNaN();
  snappedPolygonViz.update();
  return;
snappedPolygonPose.setPosition(snappedPosition);
snappedPolygonPose.setOrientation(snappedOrientation);
snappedPolygonViz.update();

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

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/ihmc-yovariables

public void setXYZ(double[] pos)
{
 setXYZ(pos[0], pos[1], pos[2]);
}