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

Wrench.changeFrame介绍

暂无

代码示例

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

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/CommonWalkingControlModules

public Map<RigidBody, Wrench> computeWrenchesFromRho(DenseMatrix64F rho)
{
 // Reinintialize wrenches
 for (int i = 0; i < rigidBodies.size(); i++)
 {
   RigidBody rigidBody = rigidBodies.get(i);
   ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame();
   wrenchesFromRho.get(rigidBody).setToZero(bodyFixedFrame, bodyFixedFrame);
 }
 int rhoStartIndex = 0;
 for (int i = 0; i < rigidBodies.size(); i++)
 {
   RigidBody rigidBody = rigidBodies.get(i);
   ReferenceFrame bodyFixedFrame = rigidBody.getBodyFixedFrame();
   PlaneContactStateToWrenchMatrixHelper helper = planeContactStateToWrenchMatrixHelpers.get(rigidBody);
   helper.computeWrenchFromRho(rhoStartIndex, rho);
   Wrench wrenchFromRho = helper.getWrenchFromRho();
   wrenchFromRho.changeFrame(bodyFixedFrame);
   wrenchesFromRho.get(rigidBody).add(wrenchFromRho);
   rhoStartIndex += helper.getRhoSize();
 }
 return wrenchesFromRho;
}

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/IHMCStateEstimation

public void update()
  {
   for (int i = 0; i < allRigidBodies.size(); i++)
   {
     RigidBody rigidBody = allRigidBodies.get(i);
     FootSwitchInterface footSwitch = footSwitches.get(rigidBody);
     GeometricJacobian jacobian = jacobians.get(rigidBody);

     footSwitch.computeAndPackFootWrench(wrench);
     wrench.changeFrame(rigidBody.getBodyFixedFrame());
     wrench.negate();

     jacobian.compute();
     jacobian.computeJointTorques(wrench, jointTorquesMatrix);

     InverseDynamicsJoint[] joints = jacobian.getJointsInOrder();

     for (int j = 0; j < joints.length; j++)
     {
      OneDoFJoint joint = (OneDoFJoint) joints[j];
      jointTorques.get(joint).set(jointTorquesMatrix.get(j, 0));
     }
   }
  }
}

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/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/CommonWalkingControlModules

private void setFootMeasuredWrenches()
{
 for (RobotSide robotSide : RobotSide.values)
 {
   WrenchBasedFootSwitch wrenchBasedFootSwitch = wrenchBasedFootSwitches.get(robotSide);
   wrenchBasedFootSwitch.computeAndPackFootWrench(tempWrench);
   RigidBody foot = wrenchBasedFootSwitch.getContactablePlaneBody().getRigidBody();
   tempWrench.changeBodyFrameAttachedToSameBody(foot.getBodyFixedFrame());
   tempWrench.changeFrame(foot.getBodyFixedFrame());
   inverseDynamicsCalculator.setExternalWrench(foot, tempWrench);
 }
}

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/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/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

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

@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 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/CommonWalkingControlModules

tmpWrench.setAngularPart(tempFrameVector);
tmpWrench.changeBodyFrameAttachedToSameBody(controlledBody.getBodyFixedFrame());
tmpWrench.changeFrame(ReferenceFrame.getWorldFrame());
  tmpExternalWrench.changeFrame(controlledBody.getBodyFixedFrame());
  optimizationControlModule.submitExternalWrench(controlledBody, tmpExternalWrench);

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);
}

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();
}