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本文整理了Java中us.ihmc.robotics.screwTheory.Wrench.setAngularPart()
方法的一些代码示例,展示了Wrench.setAngularPart()
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.setAngularPart()
方法的具体详情如下:
包路径:us.ihmc.robotics.screwTheory.Wrench
类名称:Wrench
方法名:setAngularPart
暂无
代码示例来源:origin: us.ihmc/IHMCRoboticsToolkit
protected void putYoValuesIntoWrench()
{
wrench.setToZero(bodyFrame, expressedInFrame);
wrench.setLinearPart(linearPart.getFrameTuple());
wrench.setAngularPart(angularPart.getFrameTuple());
}
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
public void getWristMeasuredWrenchHandWeightCancelled(Wrench wrenchToPack, RobotSide robotSide)
{
if (wristForcesHandWeightCancelled == null || wristTorquesHandWeightCancelled == null)
return;
wristForcesHandWeightCancelled.get(robotSide).getFrameTupleIncludingFrame(tempWristForce);
wristTorquesHandWeightCancelled.get(robotSide).getFrameTupleIncludingFrame(tempWristTorque);
ReferenceFrame measurementFrames = wristForceSensorMeasurementFrames.get(robotSide);
wrenchToPack.setToZero(measurementFrames, measurementFrames);
wrenchToPack.setLinearPart(tempWristForce);
wrenchToPack.setAngularPart(tempWristTorque);
}
代码示例来源:origin: us.ihmc/CommonWalkingControlModules
public void getWristRawMeasuredWrench(Wrench wrenchToPack, RobotSide robotSide)
{
if (wristRawMeasuredForces == null || wristRawMeasuredTorques == null)
return;
wristRawMeasuredForces.get(robotSide).getFrameTupleIncludingFrame(tempWristForce);
wristRawMeasuredTorques.get(robotSide).getFrameTupleIncludingFrame(tempWristTorque);
ReferenceFrame measurementFrames = wristForceSensorMeasurementFrames.get(robotSide);
wrenchToPack.setToZero(measurementFrames, measurementFrames);
wrenchToPack.setLinearPart(tempWristForce);
wrenchToPack.setAngularPart(tempWristTorque);
}
代码示例来源:origin: us.ihmc/DarpaRoboticsChallenge
@Override
public void processDataAtControllerRate()
{
logDataProcessorHelper.update();
admissibleGroundReactionWrench.setToZero(centerOfMassFrame, centerOfMassFrame);
admissibleDesiredGroundReactionTorque.getFrameTupleIncludingFrame(tempVector);
admissibleGroundReactionWrench.setAngularPart(tempVector);
admissibleDesiredGroundReactionForce.getFrameTupleIncludingFrame(tempVector);
admissibleGroundReactionWrench.setLinearPart(tempVector);
centerOfPressureResolver.resolveCenterOfPressureAndNormalTorque(tempCoP, admissibleGroundReactionWrench, worldFrame);
admissibleDesiredCenterOfPressure.set(tempCoP);
}
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/CommonWalkingControlModules
tmpWrench.setAngularPart(tempFrameVector);
tmpWrench.changeBodyFrameAttachedToSameBody(controlledBody.getBodyFixedFrame());
tmpWrench.changeFrame(ReferenceFrame.getWorldFrame());
代码示例来源:origin: us.ihmc/IHMCRoboticsToolkit
public void computeDynamicWrenchInBodyCoordinates(SpatialAccelerationVector acceleration, Twist twist, Wrench dynamicWrenchToPack) // TODO: write test
{
checkExpressedInBodyFixedFrame();
checkIsCrossPartZero(); // otherwise this operation would be a lot less efficient
acceleration.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame);
acceleration.getBaseFrame().checkIsWorldFrame();
acceleration.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe);
twist.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame);
twist.getBaseFrame().checkIsWorldFrame();
twist.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe);
dynamicWrenchToPack.getBodyFrame().checkReferenceFrameMatch(this.bodyFrame);
dynamicWrenchToPack.getExpressedInFrame().checkReferenceFrameMatch(this.expressedInframe);
massMomentOfInertiaPart.transform(acceleration.getAngularPart(), tempVector); // J * omegad
dynamicWrenchToPack.setAngularPart(tempVector); // [J * omegad; 0]
massMomentOfInertiaPart.transform(twist.getAngularPart(), tempVector); // J * omega
tempVector.cross(twist.getAngularPart(), tempVector); // omega x J * omega
dynamicWrenchToPack.addAngularPart(tempVector); // [J * omegad + omega x J * omega; 0]
tempVector.set(acceleration.getLinearPart()); // vd
tempVector.scale(mass); // m * vd
dynamicWrenchToPack.setLinearPart(tempVector); // [J * omegad + omega x J * omega; m * vd]
tempVector.set(twist.getLinearPart()); // v
tempVector.scale(mass); // m * v
tempVector.cross(twist.getAngularPart(), tempVector); // omega x m * v
dynamicWrenchToPack.addLinearPart(tempVector); // [J * omegad + omega x J * omega; m * vd + omega x m * v]
}
本文整理了Java中us.ihmc.robotics.screwTheory.Wrench.setAngularPart()方法的一些代码示例,展示了Wrench.setAngularPart()的具
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