本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry.setControllerTransformToWorld()方法的一些代码示例，展示了YoGraphicsListRegistry.setControllerTransformToWorld()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。YoGraphicsListRegistry.setControllerTransformToWorld()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry
类名称：YoGraphicsListRegistry
方法名：setControllerTransformToWorld

YoGraphicsListRegistry.setControllerTransformToWorld介绍

[英]Set the transform from the root joint joint of the robot to the world, as known by the controller. If both this and the simulation transform are set, all elements are adjusted for the difference.
[中]设置从机器人根关节到控制器已知世界的变换。如果同时设置了该变换和模拟变换，则所有元素都会根据差异进行调整。

代码示例

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

@Override
public void write(long timestamp)
{
 try
 {
   long startTimestamp = estimatorTime.getLongValue();
   threadDataSynchronizer.publishEstimatorState(startTimestamp, estimatorTick.getLongValue(), startClockTime.getLongValue());
   if (robotVisualizer != null)
   {
    robotVisualizer.update(startTimestamp);
   }
   estimatorTick.increment();
   rootFrame.getTransformToDesiredFrame(rootToWorldTransform, ReferenceFrame.getWorldFrame());
   yoGraphicsListRegistry.setControllerTransformToWorld(rootToWorldTransform);
 }
 catch (Throwable e)
 {
   if (globalDataProducer != null)
   {
    globalDataProducer.notifyControllerCrash(CrashLocation.ESTIMATOR_WRITE, e.getMessage());
   }
   throw new RuntimeException(e);
 }
}

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

@Override
public void write(long timestamp)
{
 try
 {
   if (runController.getBooleanValue())
   {
    outputWriter.writeAfterController(TimeTools.secondsToNanoSeconds(controllerTime.getDoubleValue()));
    totalDelay.set(timestamp - lastEstimatorStartTime.getLongValue());
    threadDataSynchronizer.publishControllerData();
    if (robotVisualizer != null)
    {
      robotVisualizer.update(TimeTools.secondsToNanoSeconds(controllerTime.getDoubleValue()), registry);
    }
    rootFrame.getTransformToDesiredFrame(rootToWorldTransform, ReferenceFrame.getWorldFrame());
    yoGraphicsListRegistry.setControllerTransformToWorld(rootToWorldTransform);
   }
 }
 catch (Exception e)
 {
   globalDataProducer.notifyControllerCrash(CrashLocation.CONTROLLER_WRITE, e.getMessage());
   throw new RuntimeException(e);
 }
}

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

yoGraphicsListRegistry.setControllerTransformToWorld(rootToWorldTransform);

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

@Override
public void write(long timestamp)
{
 try
 {
   if (runController.getBooleanValue())
   {
    if (outputProcessor != null)
    {
      outputProcessor.processAfterController(controllerTimestamp.getLongValue());
    }
    totalDelay.set(timestamp - lastEstimatorStartTime.getLongValue());
    threadDataSynchronizer.publishControllerData();
    if (robotVisualizer != null)
    {
      robotVisualizerUpdateTimer.startMeasurement();
      robotVisualizer.update(controllerTimestamp.getLongValue(), registry);
      robotVisualizerUpdateTimer.stopMeasurement();
    }
    rootFrame.getTransformToDesiredFrame(rootToWorldTransform, ReferenceFrame.getWorldFrame());
    yoGraphicsListRegistry.setControllerTransformToWorld(rootToWorldTransform);
   }
 }
 catch (Exception e)
 {
   crashNotificationPublisher.publish(MessageTools.createControllerCrashNotificationPacket(ControllerCrashLocation.CONTROLLER_WRITE, e.getMessage()));
   throw new RuntimeException(e);
 }
}