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

Wrench.set介绍

[英]Sets angular and linear parts using a Matrix ([torque; force]).
[中]使用矩阵（[扭矩；力]）设置角度和线性零件。

代码示例

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

/**
* Sets angular and linear parts using a Matrix ([torque; force]).
* @param bodyFrame the frame/body on which the wrench is exerted
* @param expressedInFrame the frame in which the wrench is expressed
*/
public void set(ReferenceFrame bodyFrame, ReferenceFrame expressedInFrame, DenseMatrix64F wrench)
{
 set(expressedInFrame, wrench);
 this.bodyFrame = bodyFrame;
}

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

public void computeTotalWrench(Wrench totalGroundReactionWrenchToPack, Collection<Wrench> wrenches, ReferenceFrame referenceFrame)
  {
   totalGroundReactionWrenchToPack.setToZero(referenceFrame, referenceFrame);

   for (Wrench wrench : wrenches)
   {
     temporaryWrench.set(wrench);
     temporaryWrench.changeFrame(referenceFrame);
     temporaryWrench.changeBodyFrameAttachedToSameBody(referenceFrame);
     totalGroundReactionWrenchToPack.add(temporaryWrench);
   }
  }
}

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

public void computeWrenchFromRho(int startIndex, DenseMatrix64F allRobotRho)
{
 CommonOps.extract(allRobotRho, startIndex, startIndex + rhoSize, 0, 1, rhoMatrix, 0, 0);
 yoRho.set(rhoMatrix);
 if (yoPlaneContactState.inContact())
 {
   totalWrenchMatrix.zero();
   for (int rhoIndex = 0; rhoIndex < rhoSize; rhoIndex++)
   {
    double rho = rhoMatrix.get(rhoIndex, 0);
    CommonOps.extract(rhoJacobianMatrix, 0, SpatialForceVector.SIZE, rhoIndex, rhoIndex + 1, singleRhoWrenchMatrix, 0, 0);
    MatrixTools.addMatrixBlock(totalWrenchMatrix, 0, 0, singleRhoWrenchMatrix, 0, 0, SpatialForceVector.SIZE, 1, rho);
   }
   RigidBody rigidBody = yoPlaneContactState.getRigidBody();
   ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame();
   wrenchFromRho.set(bodyFixedFrame, centerOfMassFrame, totalWrenchMatrix);
   CommonOps.mult(copJacobianMatrix, rhoMatrix, previousCoPMatrix);
   previousCoP.setX(previousCoPMatrix.get(0, 0));
   previousCoP.setY(previousCoPMatrix.get(1, 0));
 }
 else
 {
   wrenchFromRho.setToZero();
 }
}

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

@Override
public void set(ExternalWrenchCommand other)
{
 rigidBody = other.rigidBody;
 rigidBodyName = other.rigidBodyName;
 externalWrenchAppliedOnRigidBody.set(other.externalWrenchAppliedOnRigidBody);
}

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

private void handleSpatialAccelerationCommand(SpatialAccelerationCommand command)
{
 RigidBody controlledBody = command.getEndEffector();
 SpatialAccelerationVector accelerationVector = command.getSpatialAcceleration();
 accelerationVector.changeBaseFrameNoRelativeAcceleration(ReferenceFrame.getWorldFrame());
 twistCalculator.getTwistOfBody(tmpTwist, controlledBody);
 tmpWrench.setToZero(accelerationVector.getBodyFrame(), accelerationVector.getExpressedInFrame());
 conversionInertias.get(controlledBody).computeDynamicWrenchInBodyCoordinates(accelerationVector, tmpTwist, tmpWrench);
 tmpWrench.changeBodyFrameAttachedToSameBody(controlledBody.getBodyFixedFrame());
 tmpWrench.changeFrame(ReferenceFrame.getWorldFrame());
 VirtualWrenchCommand virtualWrenchCommand = new VirtualWrenchCommand();
 virtualWrenchCommand.set(controlledBody, tmpWrench, command.getSelectionMatrix());
 virtualWrenchCommandList.addCommand(virtualWrenchCommand);
 if (controlledBody == controlRootBody)
 {
   tmpExternalWrench.set(tmpWrench);
   tmpExternalWrench.negate();
   tmpExternalWrench.changeFrame(controlledBody.getBodyFixedFrame());
   optimizationControlModule.submitExternalWrench(controlledBody, tmpExternalWrench);
 }
 optimizationControlModule.addSelection(command.getSelectionMatrix());
}

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

public void getWrench(Wrench wrenchToPack)
{
 wrenchToPack.set(successorWrench);
}

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

public void setExternalWrench(RigidBody rigidBody, Wrench externalWrench)
{
 externalWrenches.get(rigidBody).set(externalWrench);
}

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

public void getJointWrench(InverseDynamicsJoint joint, Wrench wrenchToPack)
  {
   wrenchToPack.set(jointWrenches.get(joint));
  }
}

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

public void getExternalWrench(RigidBody rigidBody, Wrench externalWrenchToPack)
{
 externalWrenchToPack.set(externalWrenches.get(rigidBody));
}

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

@Override
public void getWrench(Wrench wrenchToPack)
{
 wrenchToPack.changeBodyFrameAttachedToSameBody(measurementFrame);
 wrenchToPack.set(measurementFrame, wrench);
}

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

@Override
public void set(VirtualWrenchCommand other)
{
 controlledBody = other.controlledBody;
 rigidBodyName = other.rigidBodyName;
 virtualWrenchAppliedByRigidBody.set(other.virtualWrenchAppliedByRigidBody);
 selectionMatrix.set(other.selectionMatrix);
}

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

public void set(RigidBody rigidBody, Wrench externalWrench)
{
 setRigidBody(rigidBody);
 externalWrenchAppliedOnRigidBody.set(externalWrench);
 externalWrenchAppliedOnRigidBody.changeFrame(rigidBody.getBodyFixedFrame());
}

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

public Wrench computeTotalExternalWrench(ReferenceFrame referenceFrame)
{
 Wrench totalGroundReactionWrench = new Wrench(referenceFrame, referenceFrame);
 Wrench temporaryWrench = new Wrench();
 for (int i = 0; i < listOfBodiesWithExternalWrenches.size(); i++)
 {
   Wrench externalWrench = externalWrenches.get(listOfBodiesWithExternalWrenches.get(i));
   temporaryWrench.set(externalWrench);
   temporaryWrench.changeFrame(referenceFrame);
   temporaryWrench.changeBodyFrameAttachedToSameBody(referenceFrame);
   totalGroundReactionWrench.add(temporaryWrench);
 }
 return totalGroundReactionWrench;
}

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

public void set(RigidBody controlledBody, Wrench virtualWrench)
{
 setRigidBody(controlledBody);
 virtualWrenchAppliedByRigidBody.set(virtualWrench);
 virtualWrenchAppliedByRigidBody.changeFrame(controlledBody.getBodyFixedFrame());
}

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/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/CommonWalkingControlModules

private void handleVirtualWrenchCommand(VirtualWrenchCommand command)
{
 virtualWrenchCommandList.addCommand(command);
 if (command.getControlledBody() == controlRootBody)
 {
   tmpExternalWrench.set(command.getVirtualWrench());
   tmpExternalWrench.negate();
   optimizationControlModule.submitExternalWrench(command.getControlledBody(), tmpExternalWrench);
 }
 optimizationControlModule.addSelection(command.getSelectionMatrix());
}

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

private void handleExternalWrenchCommand(ExternalWrenchCommand command)
{
 optimizationControlModule.submitExternalWrench(command.getRigidBody(), tmpExternalWrench);
 tmpWrench.set(command.getExternalWrench());
 tmpWrench.negate();
 VirtualWrenchCommand virtualWrenchCommand = new VirtualWrenchCommand();
 virtualWrenchCommand.set(command.getRigidBody(), tmpWrench);
 virtualWrenchCommandList.addCommand(virtualWrenchCommand);
}

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

private void storeJointState()
{
 ScrewTools.getDesiredJointAccelerationsMatrix(jointsInOrder, storedJointDesiredAccelerations);
 ScrewTools.getJointVelocitiesMatrix(jointsInOrder, storedJointVelocities);
 for (InverseDynamicsJoint joint : jointsInOrder)
 {
   DenseMatrix64F tauMatrix = new DenseMatrix64F(joint.getDegreesOfFreedom(), 1);
   joint.getTauMatrix(tauMatrix);
   DenseMatrix64F spatialForce = new DenseMatrix64F(SpatialForceVector.SIZE, 1);
   CommonOps.mult(joint.getMotionSubspace().getJacobianMatrix(), tauMatrix, spatialForce);
   Wrench jointWrench = storedJointWrenches.get(joint);
   jointWrench.set(joint.getFrameAfterJoint(), spatialForce);
   jointWrench.changeFrame(joint.getSuccessor().getBodyFixedFrame());
 }
}

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

public static void computeWrench(Wrench groundReactionWrenchToPack, FrameVector force, FramePoint2d cop, double normalTorque)
{
 ReferenceFrame referenceFrame = cop.getReferenceFrame();
 force.changeFrame(referenceFrame);
 // r x f + tauN
 Vector3d torque = new Vector3d();
 torque.setX(cop.getY() * force.getZ());
 torque.setY(-cop.getX() * force.getZ());
 torque.setZ(cop.getX() * force.getY() - cop.getY() * force.getX() + normalTorque);
 groundReactionWrenchToPack.set(referenceFrame, force.getVector(), torque);
}