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

Wrench.setLinearPart介绍

暂无

代码示例

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

@Override
public void computeAndPackFootWrench(Wrench footWrenchToPack)
{
 updateMeasurement();
 ReferenceFrame bodyFixedFrame = contactablePlaneBody.getRigidBody().getBodyFixedFrame();
 footWrenchToPack.setToZero(bodyFixedFrame, measurementFrame);
 footWrenchToPack.setLinearPart(measuredForce);
}

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/IHMCStateEstimation

private void cancelHandWeight(RobotSide robotSide, Wrench wrenchToSubstractHandWeightTo, ReferenceFrame measurementFrame)
{
 CenterOfMassReferenceFrame handCoMFrame = wristsubtreeCenterOfMassFrames.get(robotSide);
 handCoMFrame.update();
 tempForce.setIncludingFrame(worldFrame, 0.0, 0.0, -wristSubtreeMass.get(robotSide).getDoubleValue() * gravity);
 tempForce.changeFrame(handCoMFrame);
 wristWrenchDueToGravity.setToZero(measurementFrame, handCoMFrame);
 wristWrenchDueToGravity.setLinearPart(tempForce);
 wristWrenchDueToGravity.changeFrame(measurementFrame);
 wrenchToSubstractHandWeightTo.sub(wristWrenchDueToGravity);
}

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

private void cancelHandWeight(RobotSide robotSide, Wrench wrenchToSubstractHandWeightTo, ReferenceFrame measurementFrame)
{
 CenterOfMassReferenceFrame handCoMFrame = handCenterOfMassFrames.get(robotSide);
 handCoMFrame.update();
 tempWristForce.setIncludingFrame(worldFrame, 0.0, 0.0, -handsMass.get(robotSide).getDoubleValue() * gravity);
 tempWristForce.changeFrame(handCoMFrame);
 wristWrenchDueToGravity.setToZero(measurementFrame, handCoMFrame);
 wristWrenchDueToGravity.setLinearPart(tempWristForce);
 wristWrenchDueToGravity.changeFrame(measurementFrame);
 wrenchToSubstractHandWeightTo.sub(wristWrenchDueToGravity);
}

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/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]
}