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

Wrench.getReferenceFrame介绍

暂无

代码示例

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

public void reset()
{
 for (int i = 0; i < listOfBodiesWithExternalWrenches.size(); i++)
 {
   Wrench externalWrench = externalWrenches.get(listOfBodiesWithExternalWrenches.get(i));
   externalWrench.setToZero(externalWrench.getBodyFrame(), externalWrench.getReferenceFrame());
 }
}

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

wrenchExertedByChild.setBodyFrame(successorFrame);
wrenchExertedByChild.scale(-1.0); // Action = -reaction
wrenchExertedByChild.changeFrame(jointWrench.getReferenceFrame());
jointWrench.sub(wrenchExertedByChild);

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

private void compareWrenches(Wrench inputWrench, Wrench outputWrench)
{
 inputWrench.getBodyFrame().checkReferenceFrameMatch(outputWrench.getBodyFrame());
 inputWrench.getReferenceFrame().checkReferenceFrameMatch(outputWrench.getReferenceFrame());
 double epsilon = 1e-12; //3;
 EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(inputWrench.getAngularPart()), new Vector3D(outputWrench.getAngularPart()), epsilon);
 EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(inputWrench.getLinearPart()), new Vector3D(outputWrench.getLinearPart()), epsilon);
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

public static void assertRootJointWrenchZero(Map<RigidBodyBasics, Wrench> externalWrenches, SixDoFJoint rootJoint, double gravityZ, double epsilon)
  {
   InverseDynamicsCalculator inverseDynamicsCalculator = new InverseDynamicsCalculator(rootJoint.getPredecessor());
   inverseDynamicsCalculator.setGravitionalAcceleration(-gravityZ);
   for (RigidBodyBasics rigidBody : externalWrenches.keySet())
   {
     Wrench externalWrench = externalWrenches.get(rigidBody);
     externalWrench.changeFrame(rigidBody.getBodyFixedFrame());
     inverseDynamicsCalculator.setExternalWrench(rigidBody, externalWrench);
   }
   inverseDynamicsCalculator.compute();
   Wrench wrench = new Wrench();
   wrench.setIncludingFrame(rootJoint.getJointWrench());

   SpatialForce zeroWrench = new SpatialForce(wrench.getReferenceFrame());
   MecanoTestTools.assertSpatialForceEquals(wrench, zeroWrench, epsilon);
  }
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

public static void compareWrenches(WrenchReadOnly inputWrench, Wrench outputWrench)
{
 inputWrench.getBodyFrame().checkReferenceFrameMatch(outputWrench.getBodyFrame());
 outputWrench.changeFrame(inputWrench.getReferenceFrame());
 inputWrench.getReferenceFrame().checkReferenceFrameMatch(outputWrench.getReferenceFrame());
 double epsilon = 1e-4;
 EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(inputWrench.getAngularPart()), new Vector3D(outputWrench.getAngularPart()), epsilon);
 EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(inputWrench.getLinearPart()), new Vector3D(outputWrench.getLinearPart()), epsilon);
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

virtualWrenchCommand.setWrench(desiredWrench.getReferenceFrame(), desiredWrench);

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

static void compareWrenches(WrenchReadOnly inputWrench, Wrench outputWrench, DenseMatrix64F selectionMatrix)
{
 inputWrench.getBodyFrame().checkReferenceFrameMatch(outputWrench.getBodyFrame());
 outputWrench.changeFrame(inputWrench.getReferenceFrame());
 inputWrench.getReferenceFrame().checkReferenceFrameMatch(outputWrench.getReferenceFrame());
 DenseMatrix64F inputWrenchMatrix = new DenseMatrix64F(Wrench.SIZE, 1);
 DenseMatrix64F outputWrenchMatrix = new DenseMatrix64F(Wrench.SIZE, 1);
 DenseMatrix64F selectedValues = new DenseMatrix64F(Wrench.SIZE, 1);
 inputWrench.get(inputWrenchMatrix);
 outputWrench.get(outputWrenchMatrix);
 double epsilon = 1e-4;
 int taskSize = selectionMatrix.getNumRows();
 int colIndex = 0;
 for (int i = 0; i < taskSize; i++)
   for (int j = colIndex; j < Wrench.SIZE; j++)
    if (selectionMatrix.get(i, j) == 1)
      selectedValues.set(j, 0, 1);
 // only compare the selected values
 for (int i = 0; i < Wrench.SIZE; i++)
 {
   if (selectedValues.get(i, 0) == 1)
    Assert.assertEquals(inputWrenchMatrix.get(i, 0), outputWrenchMatrix.get(i, 0), epsilon);
 }
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

virtualWrenchCommand.setWrench(desiredWrench.getReferenceFrame(), desiredWrench);

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

public static void compareWrenches(WrenchReadOnly inputWrench, Wrench outputWrench, SelectionMatrix6D selectionMatrix)
{
 inputWrench.getBodyFrame().checkReferenceFrameMatch(outputWrench.getBodyFrame());
 outputWrench.changeFrame(inputWrench.getReferenceFrame());
 inputWrench.getReferenceFrame().checkReferenceFrameMatch(outputWrench.getReferenceFrame());
 DenseMatrix64F inputWrenchMatrix = new DenseMatrix64F(Wrench.SIZE, 1);
 DenseMatrix64F outputWrenchMatrix = new DenseMatrix64F(Wrench.SIZE, 1);
 inputWrench.get(inputWrenchMatrix);
 outputWrench.get(outputWrenchMatrix);
 double epsilon = 1e-4;
 if (selectionMatrix.isAngularXSelected())
   Assert.assertEquals(inputWrenchMatrix.get(0, 0), outputWrenchMatrix.get(0, 0), epsilon);
 if (selectionMatrix.isAngularYSelected())
   Assert.assertEquals(inputWrenchMatrix.get(1, 0), outputWrenchMatrix.get(1, 0), epsilon);
 if (selectionMatrix.isAngularZSelected())
   Assert.assertEquals(inputWrenchMatrix.get(2, 0), outputWrenchMatrix.get(2, 0), epsilon);
 if (selectionMatrix.isLinearXSelected())
   Assert.assertEquals(inputWrenchMatrix.get(3, 0), outputWrenchMatrix.get(3, 0), epsilon);
 if (selectionMatrix.isLinearYSelected())
   Assert.assertEquals(inputWrenchMatrix.get(4, 0), outputWrenchMatrix.get(4, 0), epsilon);
 if (selectionMatrix.isLinearZSelected())
   Assert.assertEquals(inputWrenchMatrix.get(5, 0), outputWrenchMatrix.get(5, 0), epsilon);
}