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

Wrench.getAngularPart介绍

暂无

代码示例

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

@Override
public void doControl()
{
 forceSensorData.getWrench(tempWrench);
 for(int i = 0; i < yoTorqueInJoints.size(); i++)
 {
   ImmutablePair<FrameVector, DoubleYoVariable> pair = yoTorqueInJoints.get(i);
   FrameVector jointAxis = pair.getLeft();
   DoubleYoVariable torqueAboutJointAxis = pair.getRight();
   tempWrench.changeFrame(jointAxis.getReferenceFrame());
   tempFrameVector.setToZero(tempWrench.getExpressedInFrame());
   tempWrench.getAngularPart(tempFrameVector);
   torqueAboutJointAxis.set(-tempFrameVector.dot(jointAxis));
 }
}

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

@Override
public void doControl()
{
 forceSensorData.getWrench(tempWrench);
 for(int i = 0; i < yoTorqueInJoints.size(); i++)
 {
   ImmutablePair<FrameVector, DoubleYoVariable> pair = yoTorqueInJoints.get(i);
   FrameVector jointAxis = pair.getLeft();
   DoubleYoVariable torqueAboutJointAxis = pair.getRight();
   tempWrench.changeFrame(jointAxis.getReferenceFrame());
   tempFrameVector.setToZero(tempWrench.getExpressedInFrame());
   tempWrench.getAngularPart(tempFrameVector);
   torqueAboutJointAxis.set(-tempFrameVector.dot(jointAxis));
 }
}

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

@Override
public void setTorqueFromWrench(Wrench jointWrench)
{
 jointWrench.getBodyFrame().checkReferenceFrameMatch(successor.getBodyFixedFrame());
 jointWrench.getExpressedInFrame().checkReferenceFrameMatch(jointTorque.getReferenceFrame());
 jointTorque.set(jointWrench.getAngularPart());
}

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

/**
* Takes the dot product of this twist and a wrench, resulting in the (reference frame independent) instantaneous power.
* @param wrench a wrench that
*       1) has an 'onWhat' reference frame that is the same as this twist's 'bodyFrame' reference frame.
*       2) is expressed in the same reference frame as this twist
* @return the instantaneous power associated with this twist and the wrench
*/
public double dot(Wrench wrench)
{
 this.bodyFrame.checkReferenceFrameMatch(wrench.getBodyFrame());
 this.expressedInFrame.checkReferenceFrameMatch(wrench.getExpressedInFrame());
 double power = this.angularPart.dot(wrench.getAngularPart()) + this.linearPart.dot(wrench.getLinearPart());
 return power;
}

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

tempWrench.getAngularPart(tempVector);
tempVector.changeFrame(ReferenceFrame.getWorldFrame());
torque.set(tempVector);

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

private void updateFootSensorRawMeasurement()
{
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSwitchInterface footSwitch = footSwitches.get(robotSide);
   tempWrench.setToZero(footSwitch.getMeasurementFrame(), footSwitch.getMeasurementFrame());
   tempFrameVector.setToZero(footSwitch.getMeasurementFrame());
   footSwitch.computeAndPackFootWrench(tempWrench);
   tempWrench.getLinearPart(tempFrameVector);
   footForcesRaw.get(robotSide).set(tempFrameVector);
   tempWrench.getAngularPart(tempFrameVector);
   footTorquesRaw.get(robotSide).set(tempFrameVector);
   footForcesRawFiltered.get(robotSide).update();
   footTorquesRawFiltered.get(robotSide).update();
 }
}

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

private void readSensorData(Wrench footWrenchToPack)
{
 forceSensorData.getWrench(footWrenchToPack);
 // First in measurement frame for all the frames...
 footForce.setToZero(footWrenchToPack.getExpressedInFrame());
 footWrenchToPack.getLinearPart(footForce);
 yoFootForce.set(footForce);
 footTorque.setToZero(footWrenchToPack.getExpressedInFrame());
 footWrenchToPack.getAngularPart(footTorque);
 yoFootTorque.set(footTorque);
 // magnitude of force part is independent of frame
 footForceMagnitude.set(footForce.length());
 // Now change to frame after the parent joint (ankle or wrist for example):
 footWrenchInBodyFixedFrame.set(footWrenchToPack);
 footWrenchInBodyFixedFrame.changeFrame(contactablePlaneBody.getRigidBody().getBodyFixedFrame());
 footForce.setToZero(footWrenchInBodyFixedFrame.getExpressedInFrame());
 footWrenchInBodyFixedFrame.getLinearPart(footForce);
 footTorque.setToZero(footWrenchInBodyFixedFrame.getExpressedInFrame());
 footWrenchInBodyFixedFrame.getAngularPart(footTorque);
 footForce.changeFrame(contactablePlaneBody.getFrameAfterParentJoint());
 yoFootForceInFoot.set(footForce);
 footTorque.changeFrame(contactablePlaneBody.getFrameAfterParentJoint());
 yoFootTorqueInFoot.set(footTorque);
 footForce.changeFrame(ReferenceFrame.getWorldFrame());
 footTorque.changeFrame(ReferenceFrame.getWorldFrame());
 yoFootForceInWorld.set(footForce);
 yoFootTorqueInWorld.set(footTorque);
 updateSensorVisualizer();
}