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

Wrench.getExpressedInFrame介绍

暂无

代码示例

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

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

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

public void setExternalWrenchToCompensateFor(RigidBody rigidBody, Wrench wrench)
{
 boolean containsRigidBody = externalWrenchesToCompensateFor.get(rigidBody) != null;
 if (!containsRigidBody)
 {
   externalWrenches.put(rigidBody, new Wrench(rigidBody.getBodyFixedFrame(), rigidBody.getBodyFixedFrame()));
   externalWrenchesToCompensateFor.put(rigidBody, new Wrench(rigidBody.getBodyFixedFrame(), rigidBody.getBodyFixedFrame()));
   externalWrenchesToCompensateForList.add(externalWrenchesToCompensateFor.get(rigidBody));
   rigidBodiesWithWrenchToCompensateFor.add(rigidBody);
 }
 ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame();
 wrench.getBodyFrame().checkReferenceFrameMatch(bodyFixedFrame);
 wrench.getExpressedInFrame().checkReferenceFrameMatch(bodyFixedFrame);
 externalWrenchesToCompensateFor.get(rigidBody).set(wrench);
}

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

protected void getYoValuesFromWrench()
{
 linearPart.set(wrench.getExpressedInFrame(), wrench.getLinearPartX(), wrench.getLinearPartY(), wrench.getLinearPartZ());
 angularPart.set(wrench.getExpressedInFrame(), wrench.getAngularPartX(), wrench.getAngularPartY(), wrench.getAngularPartZ());
}

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

public void setWrench(Wrench newWrench)
{
 measurementFrame.checkReferenceFrameMatch(newWrench.getExpressedInFrame());
 measurementFrame.checkReferenceFrameMatch(newWrench.getBodyFrame());
 newWrench.getMatrix(wrench);
}

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

private void computeJointWrenchesAndTorques()
{
 for (int jointIndex = allJoints.size() - 1; jointIndex >= 0; jointIndex--)
 {
   InverseDynamicsJoint joint = allJoints.get(jointIndex);
   RigidBody successor = joint.getSuccessor();
   Wrench jointWrench = jointWrenches.get(joint);
   jointWrench.set(netWrenches.get(successor));
   Wrench externalWrench = externalWrenches.get(successor);
   jointWrench.sub(externalWrench);
   List<InverseDynamicsJoint> childrenJoints = successor.getChildrenJoints();
   for (int childIndex = 0; childIndex < childrenJoints.size(); childIndex++)
   {
    InverseDynamicsJoint child = childrenJoints.get(childIndex);
    if (!jointsToIgnore.contains(child))
    {
      Wrench wrenchExertedOnChild = jointWrenches.get(child);
      ReferenceFrame successorFrame = successor.getBodyFixedFrame();
      wrenchExertedByChild.set(wrenchExertedOnChild);
      wrenchExertedByChild.changeBodyFrameAttachedToSameBody(successorFrame);
      wrenchExertedByChild.scale(-1.0); // Action = -reaction
      wrenchExertedByChild.changeFrame(jointWrench.getExpressedInFrame());
      jointWrench.sub(wrenchExertedByChild);
    }
   }
   joint.setTorqueFromWrench(jointWrench);
 }
}

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

public void setWrench(Wrench jointWrench)
{
 successorWrench.getBodyFrame().checkReferenceFrameMatch(jointWrench.getBodyFrame());
 successorWrench.getExpressedInFrame().checkReferenceFrameMatch(jointWrench.getExpressedInFrame());
 successorWrench.setAngularPartY(jointWrench.getAngularPartY());
 successorWrench.setLinearPartX(jointWrench.getLinearPartX());
 successorWrench.setLinearPartZ(jointWrench.getLinearPartZ());
}

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)
{
 unitSuccessorTwist.getBodyFrame().checkReferenceFrameMatch(jointWrench.getBodyFrame());
 unitSuccessorTwist.getExpressedInFrame().checkReferenceFrameMatch(jointWrench.getExpressedInFrame());
 this.tau = unitSuccessorTwist.dot(jointWrench);
 // cheating a little bit; tau = J^T * wrench. J maps joint velocities to joint twists.
 // the unit twist is actually exactly the same as J, except that its entries have different dimensions.
 // we disregard dimensions and just use .dot(.) for efficiency
}

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

public void update(Wrench sensorWrench)
{
 sensorWrench.changeFrame(world);
 yoSensorForce.set(sensorWrench.getExpressedInFrame(), sensorWrench.getLinearPartX(), sensorWrench.getLinearPartY(), sensorWrench.getLinearPartZ());
 yoSensorTorque.set(sensorWrench.getExpressedInFrame(), sensorWrench.getAngularPartX(), sensorWrench.getAngularPartY(), sensorWrench.getAngularPartZ());
 if (addSimulatedSensorNoise.getBooleanValue())
 {
   double amp = 0.1;
   double bias = 0.25;
      yoSensorForce.add(amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias);
   yoSensorTorque.add(amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias, amp*2.0*(Math.random()-0.5)+bias);
 }
 
 updateSensorPosition();
 updateCenterOfMass();
 yoSensorToDistalCoMvectorInWorld.sub(distalCoMInWorld, yoSensorPositionInWorld);
 distalMassWrench.setToZero(world);
 distalMassWrench.setUsingArm(world, distalMassForceInWorld.getFrameTuple().getVector(), yoSensorToDistalCoMvectorInWorld.getFrameTuple().getVector());
 yoSensorForceFromDistalMass.set(distalMassWrench.getExpressedInFrame(), distalMassWrench.getLinearPartX(), distalMassWrench.getLinearPartY(), distalMassWrench.getLinearPartZ());
 yoSensorTorqueFromDistalMass.set(distalMassWrench.getExpressedInFrame(), distalMassWrench.getAngularPartX(), distalMassWrench.getAngularPartY(), distalMassWrench.getAngularPartZ());
 yoSensorForceMassCompensated.sub(yoSensorForce, yoSensorForceFromDistalMass);
 yoSensorTorqueMassCompensated.sub(yoSensorTorque, yoSensorTorqueFromDistalMass);
}

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

tempVector.setToZero(tempWrench.getExpressedInFrame());
tempWrench.getLinearPart(tempVector);
tempVector.changeFrame(ReferenceFrame.getWorldFrame());
tempVector.setToZero(tempWrench.getExpressedInFrame());
tempWrench.getAngularPart(tempVector);
tempVector.changeFrame(ReferenceFrame.getWorldFrame());

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

/**
* Computes and packs the joint torque vector that corresponds to the given wrench.
* 
* @param wrench the resulting wrench at the end effector.
*       The wrench should be expressed in {@code jacobianFrame} and the wrench's {@code bodyFrame}
*        should be the body fixed frame of the end-effector.
* @throws ReferenceFrameMismatchException if the given wrench {@code wrench.getExpressedInFrame() != this.getJacobianFrame()} or
*  {@code wrench.getBodyFrame() != this.getEndEffectorFrame()}.
*/
public void computeJointTorques(Wrench wrench, DenseMatrix64F jointTorquesToPack)
{
 // reference frame check
 wrench.getExpressedInFrame().checkReferenceFrameMatch(this.jacobianFrame);
 // FIXME add the following reference frame check
 //      wrench.getBodyFrame().checkReferenceFrameMatch(getEndEffectorFrame());
 wrench.getMatrix(tempMatrix);
 jointTorquesToPack.reshape(1, jacobian.getNumCols());
 CommonOps.multTransA(tempMatrix, jacobian, jointTorquesToPack);
 CommonOps.transpose(jointTorquesToPack);
}

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/IHMCRoboticsToolkit

public void getWrench(Wrench wrenchToPack)
{
 wrenchToPack.setToZero(successorWrench.getBodyFrame(), successorWrench.getExpressedInFrame());
 wrenchToPack.setAngularPartY(successorWrench.getAngularPartY());
 wrenchToPack.setLinearPartX(successorWrench.getLinearPartX());
 wrenchToPack.setLinearPartZ(successorWrench.getLinearPartZ());
}

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();
}

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

@Override
public void setTorqueFromWrench(Wrench jointWrench)
{
 jointWrench.getBodyFrame().checkReferenceFrameMatch(successor.getBodyFixedFrame());
 jointWrench.setToZero(successor.getBodyFixedFrame(), successorWrench.getExpressedInFrame());
 jointWrench.setAngularPartY(successorWrench.getAngularPartY());
 jointWrench.setLinearPartX(successorWrench.getLinearPartX());
 jointWrench.setLinearPartZ(successorWrench.getLinearPartZ());
 jointWrench.changeFrame(successor.getBodyFixedFrame());
}

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]
}