- 使用 Spring Initializr 创建 Spring Boot 应用程序
- 在Spring Boot中配置Cassandra
- 在 Spring Boot 上配置 Tomcat 连接池
- 将Camel消息路由到嵌入WildFly的Artemis上
本文整理了Java中us.ihmc.robotics.screwTheory.Wrench.getAngularPartIncludingFrame()
方法的一些代码示例,展示了Wrench.getAngularPartIncludingFrame()
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.getAngularPartIncludingFrame()
方法的具体详情如下:
包路径:us.ihmc.robotics.screwTheory.Wrench
类名称:Wrench
方法名:getAngularPartIncludingFrame
暂无
代码示例来源:origin: us.ihmc/SensorProcessing
tempWrench.getAngularPartIncludingFrame(tempTorque);
inputForces.get(forceSensorDefinition).set(tempForce);
inputTorques.get(forceSensorDefinition).set(tempTorque);
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
private void updateWristMeasuredWrench(FrameVector measuredForceToPack, FrameVector measuredTorqueToPack)
{
momentumBasedController.getWristMeasuredWrenchHandWeightCancelled(measuredWrench, robotSide);
measuredWrench.getLinearPartIncludingFrame(tempForceVector);
measuredWrench.getAngularPartIncludingFrame(tempTorqueVector);
deadzoneMeasuredForce.update(tempForceVector);
deadzoneMeasuredTorque.update(tempTorqueVector);
filteredMeasuredForce.update();
filteredMeasuredTorque.update();
filteredMeasuredForce.getFrameTupleIncludingFrame(tempForceVector);
filteredMeasuredTorque.getFrameTupleIncludingFrame(tempTorqueVector);
measuredWrench.setLinearPart(tempForceVector);
measuredWrench.setAngularPart(tempTorqueVector);
measuredWrench.changeFrame(controlFrame);
measuredWrench.getLinearPartIncludingFrame(measuredForceToPack);
measuredWrench.getAngularPartIncludingFrame(measuredTorqueToPack);
}
代码示例来源:origin: us.ihmc/IHMCStateEstimation
private void calibrateFootForceSensors()
{
for (RobotSide robotSide : RobotSide.values)
{
ForceSensorDataReadOnly footForceSensor = inputForceSensorDataHolder.get(footForceSensorDefinitions.get(robotSide));
footForceSensor.getWrench(tempWrench);
tempWrench.getLinearPartIncludingFrame(tempForce);
tempWrench.getAngularPartIncludingFrame(tempTorque);
footForceCalibrationOffsets.get(robotSide).setAndMatchFrame(tempForce);
footTorqueCalibrationOffsets.get(robotSide).setAndMatchFrame(tempTorque);
}
calibrateFootForceSensors.set(false);
}
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
private void readWristSensorData()
{
if (wristForceSensors == null)
return;
for (RobotSide robotSide : RobotSide.values)
{
ForceSensorDataReadOnly wristForceSensor = wristForceSensors.get(robotSide);
ReferenceFrame measurementFrame = wristForceSensor.getMeasurementFrame();
wristForceSensor.getWrench(wristTempWrench);
wristTempWrench.getLinearPartIncludingFrame(tempWristForce);
wristTempWrench.getAngularPartIncludingFrame(tempWristTorque);
wristRawMeasuredForces.get(robotSide).setAndMatchFrame(tempWristForce);
wristRawMeasuredTorques.get(robotSide).setAndMatchFrame(tempWristTorque);
cancelHandWeight(robotSide, wristTempWrench, measurementFrame);
wristTempWrench.getLinearPartIncludingFrame(tempWristForce);
wristTempWrench.getAngularPartIncludingFrame(tempWristTorque);
wristForcesHandWeightCancelled.get(robotSide).setAndMatchFrame(tempWristForce);
wristTorquesHandWeightCancelled.get(robotSide).setAndMatchFrame(tempWristTorque);
}
}
代码示例来源:origin: us.ihmc/IHMCStateEstimation
private void calibrateWristForceSensors()
{
for (RobotSide robotSide : RobotSide.values)
{
ForceSensorDataReadOnly wristForceSensor = inputForceSensorDataHolder.get(wristForceSensorDefinitions.get(robotSide));
ReferenceFrame measurementFrame = wristForceSensor.getMeasurementFrame();
wristForceSensor.getWrench(tempWrench);
cancelHandWeight(robotSide, tempWrench, measurementFrame);
tempWrench.getLinearPartIncludingFrame(tempForce);
tempWrench.getAngularPartIncludingFrame(tempTorque);
wristForceCalibrationOffsets.get(robotSide).setAndMatchFrame(tempForce);
wristTorqueCalibrationOffsets.get(robotSide).setAndMatchFrame(tempTorque);
}
calibrateWristForceSensors.set(false);
}
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
residualRootJointWrench.getAngularPartIncludingFrame(residualRootJointTorque);
residualRootJointWrench.getLinearPartIncludingFrame(residualRootJointForce);
yoResidualRootJointForce.setAndMatchFrame(residualRootJointForce);
代码示例来源:origin: us.ihmc/IHMCStateEstimation
private void updateWristForceSensorState()
{
if (requestWristForceSensorCalibrationSubscriber != null && requestWristForceSensorCalibrationSubscriber.checkForNewCalibrationRequest())
calibrateWristForceSensors.set(true);
if (calibrateWristForceSensors.getBooleanValue())
calibrateWristForceSensors();
for (RobotSide robotSide : RobotSide.values)
{
ForceSensorDefinition wristForceSensorDefinition = wristForceSensorDefinitions.get(robotSide);
ForceSensorDataReadOnly wristForceSensor = inputForceSensorDataHolder.get(wristForceSensorDefinition);
ReferenceFrame measurementFrame = wristForceSensor.getMeasurementFrame();
RigidBody measurementLink = wristForceSensorDefinition.getRigidBody();
wristForceSensor.getWrench(tempWrench);
wristForceCalibrationOffsets.get(robotSide).getFrameTupleIncludingFrame(tempForce);
wristTorqueCalibrationOffsets.get(robotSide).getFrameTupleIncludingFrame(tempTorque);
tempWrench.subLinearPart(tempForce);
tempWrench.subAngularPart(tempTorque);
outputForceSensorDataHolder.setForceSensorValue(wristForceSensorDefinition, tempWrench);
tempWrench.getLinearPartIncludingFrame(tempForce);
tempWrench.getAngularPartIncludingFrame(tempTorque);
cancelHandWeight(robotSide, tempWrench, measurementFrame);
tempWrench.getLinearPartIncludingFrame(tempForce);
tempWrench.getAngularPartIncludingFrame(tempTorque);
wristForcesSubtreeWeightCancelled.get(robotSide).setAndMatchFrame(tempForce);
wristTorquesSubtreeWeightCancelled.get(robotSide).setAndMatchFrame(tempTorque);
if (wrenches != null)
wrenches.get(measurementLink).set(tempWrench);
outputForceSensorDataHolderWithGravityCancelled.setForceSensorValue(wristForceSensorDefinition, tempWrench);
}
}
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
residualRootJointWrench.getAngularPartIncludingFrame(residualRootJointTorque);
residualRootJointWrench.getLinearPartIncludingFrame(residualRootJointForce);
yoResidualRootJointForce.setAndMatchFrame(residualRootJointForce);
本文整理了Java中us.ihmc.robotics.screwTheory.Wrench.getAngularPartIncludingFrame()方法的一些代码示例,展示了Wrench.getA
我是一名优秀的程序员,十分优秀!