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

Wrench.getLinearPartZ介绍

暂无

代码示例

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

private int filterTrustedFeetBasedOnContactForces(int numberOfEndEffectorsTrusted)
{
 double totalForceZ = 0.0;
 for (int i = 0; i < feet.size(); i++)
 {
   RigidBody foot = feet.get(i);
   Wrench footWrench = footWrenches.get(foot);
   footSwitches.get(foot).computeAndPackFootWrench(footWrench);
   totalForceZ += footWrench.getLinearPartZ();
 }
 for (int i = 0; i < feet.size(); i++)
 {
   RigidBody foot = feet.get(i);
   Wrench footWrench = footWrenches.get(foot);
   footForcesZInPercentOfTotalForce.get(foot).set(footWrench.getLinearPartZ() / totalForceZ);
   if (footForcesZInPercentOfTotalForce.get(foot).getDoubleValue() < forceZInPercentThresholdToFilterFoot.getDoubleValue())
   {
    numberOfEndEffectorsTrusted--;
    areFeetTrusted.get(foot).set(false);
    return numberOfEndEffectorsTrusted;
   }
 }
 return numberOfEndEffectorsTrusted;
}

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

@Override
public void getTauMatrix(DenseMatrix64F matrix)
{
 matrix.set(0, 0, successorWrench.getAngularPartY());
 matrix.set(1, 0, successorWrench.getLinearPartX());
 matrix.set(2, 0, successorWrench.getLinearPartZ());
}

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

public void update()
{
 if (footRawCoPPositionsInWorld != null)
 {
   overallRawCoPPositionInWorld.setToZero();
   double totalFootForce = 0.0;
   for (int i = 0; i < footList.size(); i++)
   {
    RigidBody rigidBody = footList.get(i);
    footSwitches.get(rigidBody).computeAndPackCoP(tempRawCoP2d);
    tempRawCoP.setIncludingFrame(tempRawCoP2d.getReferenceFrame(), tempRawCoP2d.getX(), tempRawCoP2d.getY(), 0.0);
    tempRawCoP.changeFrame(worldFrame);
    footRawCoPPositionsInWorld.get(rigidBody).set(tempRawCoP);
    footSwitches.get(rigidBody).computeAndPackFootWrench(tempWrench);
    double singleFootForce = tempWrench.getLinearPartZ();
    totalFootForce += singleFootForce;
    tempRawCoP.scale(singleFootForce);
    overallRawCoPPositionInWorld.add(tempRawCoP);
   }
   overallRawCoPPositionInWorld.scale(1.0 / totalFootForce);
 }
}

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/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/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/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/CommonWalkingControlModules

public void updateCoP()
{
 readSensorData(footWrench);
 if (Math.abs(footWrench.getLinearPartZ()) < MIN_FORCE_TO_COMPUTE_COP)
 {
   yoResolvedCoP.setToNaN();
   resolvedCoP3d.setToNaN(ReferenceFrame.getWorldFrame());
   resolvedCoP.setToNaN();
 }
 else
 {
   copResolver.resolveCenterOfPressureAndNormalTorque(resolvedCoP, footWrench, contactablePlaneBody.getSoleFrame());
   yoResolvedCoP.set(resolvedCoP);
      resolvedCoP3d.setToZero(resolvedCoP.getReferenceFrame());
   resolvedCoP3d.setXY(resolvedCoP);
   resolvedCoP3d.changeFrame(ReferenceFrame.getWorldFrame());
 }
}

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/CommonWalkingControlModules

private void computeCop()
{
 double force = 0.0;
 centerOfPressure.setToZero(worldFrame);
 for (RobotSide robotSide : RobotSide.values)
 {
   footSwitches.get(robotSide).computeAndPackCoP(tempFootCop2d);
   if (tempFootCop2d.containsNaN())
    continue;
   footSwitches.get(robotSide).computeAndPackFootWrench(tempFootWrench);
   double footForce = tempFootWrench.getLinearPartZ();
   force += footForce;
   tempFootCop.setIncludingFrame(tempFootCop2d.getReferenceFrame(), tempFootCop2d.getX(), tempFootCop2d.getY(), 0.0);
   tempFootCop.changeFrame(worldFrame);
   tempFootCop.scale(footForce);
   centerOfPressure.add(tempFootCop.getX(), tempFootCop.getY());
 }
 centerOfPressure.scale(1.0 / force);
 yoCenterOfPressure.set(centerOfPressure);
}

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

public void control(SpatialAccelerationVector handSpatialAccelerationVector, Wrench toolWrench)
{
 if (!hasBeenInitialized)
 {
   update();
   initialize();
 }
 update();
 toolAcceleration.set(handSpatialAccelerationVector);
 toolAcceleration.changeFrameNoRelativeMotion(toolJoint.getFrameAfterJoint());
 // TODO: Take relative acceleration between uTorsoCoM and elevator in account
 toolAcceleration.changeBaseFrameNoRelativeAcceleration(elevatorFrame);
 toolAcceleration.changeBodyFrameNoRelativeAcceleration(toolJoint.getFrameAfterJoint());
 toolJoint.setDesiredAcceleration(toolAcceleration);
 inverseDynamicsCalculator.compute();
 inverseDynamicsCalculator.getJointWrench(toolJoint, toolWrench);
 toolWrench.negate();
 toolWrench.changeFrame(handFixedFrame);
 toolWrench.changeBodyFrameAttachedToSameBody(handFixedFrame);
 // Visualization
 temporaryVector.setIncludingFrame(handFixedFrame, toolWrench.getLinearPartX(), toolWrench.getLinearPartY(), toolWrench.getLinearPartZ());
 temporaryVector.changeFrame(ReferenceFrame.getWorldFrame());
 temporaryVector.scale(0.01);
 objectForceInWorld.set(temporaryVector);
}