us.ihmc.simulationconstructionset.Robot.getRootJoints()方法的使用及代码示例

x33g5p2x  于2022-01-29 转载在 其他  
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本文整理了Java中us.ihmc.simulationconstructionset.Robot.getRootJoints方法的一些代码示例，展示了Robot.getRootJoints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。Robot.getRootJoints方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：getRootJoints

Robot.getRootJoints介绍

暂无

代码示例

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

private FloatingInverseDynamicsJoint getRootSixDoFJoint()
{
 ArrayList<Joint> rootJoints = robot.getRootJoints();
 if (rootJoints.size() > 1) throw new RuntimeException("Only works with one root joint");
 
 FloatingJoint rootJoint = (FloatingJoint) rootJoints.get(0);
 
 return scsToInverseDynamicsJointMap.getInverseDynamicsSixDoFJoint(rootJoint);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

private FloatingJoint getRootJoint(SimulationConstructionSet scs0)
{
 Joint firstRootJoint = scs0.getRobots()[0].getRootJoints().get(0);
 if (firstRootJoint instanceof FloatingJoint)
   return (FloatingJoint) firstRootJoint;
 throw new RuntimeException("first root joint is not a floating joint: " + firstRootJoint);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

private void PackSensorDataFromRobot()
{
 for (Joint rootJoint : terminator.getRootJoints())
 {
   recurseThrough(rootJoint);
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

public void getRobotInformationAsStringBuffer(StringBuffer buffer)
{
  ArrayList<Joint> rootJoints = robot.getRootJoints();
  for (Joint rootJoint : rootJoints)
  {
   buffer.append("Found Root Joint.\n");
   printJointInformation(rootJoint, buffer);
  }
}

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

private RigidBody getRootBody()
{
 ArrayList<Joint> rootJoints = robot.getRootJoints();
 if (rootJoints.size() > 1) throw new RuntimeException("Only works with one root joint");
 
 Joint rootJoint = rootJoints.get(0);
 
 return scsToInverseDynamicsJointMap.getRigidBody(rootJoint);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

ConservedQuantitiesChecker(Robot robot)
{
  this.robot = robot;
  this.rootJoint = (FloatingJoint) robot.getRootJoints().get(0);
  this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName());
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public TorqueSpeedDataExporterGraphCreator(Robot robot, DataBuffer dataBuffer)
{
 super(robot.getYoTime(), dataBuffer);
 for (Joint rootJoint : robot.getRootJoints())
 {
   recursivelyAddPinJoints(rootJoint, pinJoints);
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools-test

SinusoidalTorqueController(Robot robot)
{
  this.t = robot.getYoTime();
  this.registry = new YoVariableRegistry(robot.getName() + getClass().getSimpleName());
  Joint rootJoint = robot.getRootJoints().get(0);
  for(Joint childJoint : rootJoint.getChildrenJoints())
  {
   recursivelyAddJointTorqueProfile(childJoint);
  }
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

private SDFModel createSDFModel()
{
 SDFModel model = new SDFModel();
 List<SDFJoint> sdfJoints = new ArrayList<>();
 List<SDFLink> sdfLink = new ArrayList<>();
 ArrayList<OneDegreeOfFreedomJoint> scsJoints = new ArrayList<>();
 scsRobot.getAllOneDegreeOfFreedomJoints(scsJoints);
 if (scsRobot.getRootJoints().size() > 1)
   throw new RuntimeException("Cannot handle multiple root joints for now.");
 sdfLink.add(createSDFLink(scsRobot.getRootJoints().get(0).getLink(), true));
 for (OneDegreeOfFreedomJoint scsJoint : scsJoints)
 {
   sdfJoints.add(createSDFJoint(scsJoint));
   sdfLink.add(createSDFLink(scsJoint.getLink(), false));
 }
 model.setName(sdfModelName);
 model.setJoints(sdfJoints);
 model.setLinks(sdfLink);
 return model;
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private double findAccelerationGreatestMagnitude()
 {
   FloatingJoint scsFloatingJoint = (FloatingJoint) robot.getRootJoints().get(0);
   double mag = scsFloatingJoint.getAngularAccelerationInBody().length();
   Vector3D linearAcceleration = new Vector3D();
   scsFloatingJoint.getLinearAccelerationInWorld(linearAcceleration);
   mag = Math.max(linearAcceleration.length(), mag);
   ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>();
   robot.getAllOneDegreeOfFreedomJoints(joints);
   for (OneDegreeOfFreedomJoint joint : joints)
    mag = Math.max(mag, Math.abs(joint.getQDD()));
   return mag;
 }
}

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

private SDFModel createSDFModel()
{
 SDFModel model = new SDFModel();
 List<SDFJoint> sdfJoints = new ArrayList<>();
 List<SDFLink> sdfLink = new ArrayList<>();
 ArrayList<OneDegreeOfFreedomJoint> scsJoints = new ArrayList<>();
 scsRobot.getAllOneDegreeOfFreedomJoints(scsJoints);
 if (scsRobot.getRootJoints().size() > 1)
   throw new RuntimeException("Cannot handle multiple root joints for now.");
 sdfLink.add(createSDFLink(scsRobot.getRootJoints().get(0).getLink(), true));
 for (OneDegreeOfFreedomJoint scsJoint : scsJoints)
 {
   sdfJoints.add(createSDFJoint(scsJoint));
   sdfLink.add(createSDFLink(scsJoint.getLink(), false));
 }
 model.setName(sdfModelName);
 model.setJoints(sdfJoints);
 model.setLinks(sdfLink);
 return model;
}

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

private List<SDFVisual> createSDFVisual(Link scsLink)
{
 if (scsLink.getName().contains("body"))
   System.out.println();
 
 List<SDFVisual> sdfVisuals = new ArrayList<>();
 ArrayList<Graphics3DPrimitiveInstruction> graphics3dInstructions = scsLink.getLinkGraphics().getGraphics3DInstructions();
 RigidBodyTransform parentJointTransformToWorld = new RigidBodyTransform();
 Joint parentJoint = scsLink.getParentJoint();
 
 if (scsRobot.getRootJoints().contains(parentJoint))
   parentJoint.getTransformToWorld(parentJointTransformToWorld);
 
 SDFVisual sdfVisual = createSDFVisual(parentJointTransformToWorld, graphics3dInstructions);
 
 if (sdfVisual != null)
   sdfVisuals.add(sdfVisual);
 return sdfVisuals;
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

private List<SDFVisual> createSDFVisual(Link scsLink)
{
 if (scsLink.getName().contains("body"))
   System.out.println();
 
 List<SDFVisual> sdfVisuals = new ArrayList<>();
 ArrayList<Graphics3DPrimitiveInstruction> graphics3dInstructions = scsLink.getLinkGraphics().getGraphics3DInstructions();
 RigidBodyTransform parentJointTransformToWorld = new RigidBodyTransform();
 Joint parentJoint = scsLink.getParentJoint();
 
 if (scsRobot.getRootJoints().contains(parentJoint))
   parentJoint.getTransformToWorld(parentJointTransformToWorld);
 
 SDFVisual sdfVisual = createSDFVisual(parentJointTransformToWorld, graphics3dInstructions);
 
 if (sdfVisual != null)
   sdfVisuals.add(sdfVisual);
 return sdfVisuals;
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

public static void setRandomConfiguration(Random random, Robot robot)
{
 FloatingJoint rootJoint = (FloatingJoint) robot.getRootJoints().get(0);
 rootJoint.setRotationAndTranslation(EuclidCoreRandomTools.nextRigidBodyTransform(random));
 ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>();
 robot.getAllOneDegreeOfFreedomJoints(joints);
 for (OneDegreeOfFreedomJoint joint : joints)
 {
   double jointLowerLimit = Math.max(joint.getJointLowerLimit(), -2.0 * Math.PI);
   double jointUpperLimit = Math.min(joint.getJointUpperLimit(), 2.0 * Math.PI);
   double q = EuclidCoreRandomTools.nextDouble(random, jointLowerLimit, jointUpperLimit);
   joint.setQ(q);
 }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

public static void setRandomVelocity(Random random, Robot robot)
{
 FloatingJoint rootJoint = (FloatingJoint) robot.getRootJoints().get(0);
 rootJoint.setVelocity(EuclidCoreRandomTools.nextVector3D(random));
 rootJoint.setAngularVelocityInBody(EuclidCoreRandomTools.nextVector3D(random));
 ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>();
 robot.getAllOneDegreeOfFreedomJoints(joints);
 for (OneDegreeOfFreedomJoint joint : joints)
   joint.setQd(EuclidCoreRandomTools.nextDouble(random));
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

@Override
public void waitAndWriteData(long tick)
{
 if (tick % ticksPerSimulationTick == 0 && !(tick == 0 && skipFirstControlCycle))
 {
   robotControlElement.write(System.nanoTime());
   if (simulatedRobot != null)
   {
    RigidBodyTransform transformToWorld = new RigidBodyTransform();
    simulatedRobot.getRootJoints().get(0).getTransformToWorld(transformToWorld);
    if (robotControlElement.getYoGraphicsListRegistry() != null)
    {
      robotControlElement.getYoGraphicsListRegistry().setSimulationTransformToWorld(transformToWorld);
    }
   }
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

@Override
public void updateYoGraphicsListRegistry()
{
 if(robotControlElement.getYoGraphicsListRegistry() != null)
 {
   if(registry!=null)
       registry.updateChangedValues();
   if (simulatedRobot != null)
   {
    simulatedRobot.getRootJoints().get(0).getTransformToWorld(transformToWorld);
    robotControlElement.getYoGraphicsListRegistry().setSimulationTransformToWorld(transformToWorld);
   }
   robotControlElement.getYoGraphicsListRegistry().update();
 }
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public DataExporterExcelWorkbookCreator(Robot robot, DataBuffer dataBuffer)
{
 this.robot = robot;
 for (Joint rootJoint : robot.getRootJoints())
 {
   recursivelyAddPinJoints(rootJoint, pinJoints);
   recursivelyAddJoints(rootJoint, allJoints);
 }
 this.dataBuffer = dataBuffer;
 defaultFormat = new WritableCellFormat();
 WritableFont headerFont = new WritableFont(WritableFont.ARIAL, 10, WritableFont.BOLD);
 headerCellFormat = new WritableCellFormat(headerFont);
 defaultNumberFormat = new WritableCellFormat(NumberFormats.FLOAT);
 smallNumberFormat = new WritableCellFormat(NumberFormats.EXPONENTIAL);
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void getFloatingJointStateFromSCS()
{
  FloatingJoint scsJoint = (FloatingJoint) robot.getRootJoints().get(0);
  RigidBodyTransform jointTransform3D = scsJoint.getJointTransform3D();
  floatingJoint.getJointPose().set(jointTransform3D);
  floatingJoint.getFrameAfterJoint().update();
  FrameVector3D linearVelocity = new FrameVector3D();
  scsJoint.getVelocity(linearVelocity);
  linearVelocity.changeFrame(floatingJoint.getFrameAfterJoint());
  floatingJoint.getJointTwist().set(scsJoint.getAngularVelocityInBody(), linearVelocity);
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private void checkRobotsHaveSameState(Robot robotA, Robot robotB)
{
 Point3D centerOfMassA = new Point3D();
 Point3D centerOfMassB = new Point3D();
 double totalMassA = robotA.computeCenterOfMass(centerOfMassA);
 double totalMassB = robotB.computeCenterOfMass(centerOfMassB);
 Vector3D angularMomentumA = new Vector3D();
 Vector3D angularMomentumB = new Vector3D();
 robotA.computeAngularMomentum(angularMomentumA);
 robotB.computeAngularMomentum(angularMomentumB);
 Vector3D linearMomentumA = new Vector3D();
 Vector3D linearMomentumB = new Vector3D();
 robotA.computeLinearMomentum(linearMomentumA);
 robotB.computeLinearMomentum(linearMomentumB);
 assertEquals(totalMassA, totalMassB, 1e-7);
 EuclidCoreTestTools.assertTuple3DEquals(centerOfMassA, centerOfMassB, 1e-10);
 EuclidCoreTestTools.assertTuple3DEquals(linearMomentumA, linearMomentumB, 1e-10);
 EuclidCoreTestTools.assertTuple3DEquals(angularMomentumA, angularMomentumB, 1e-9);
 ArrayList<Joint> jointsA = robotA.getRootJoints();
 ArrayList<Joint> jointsB = robotB.getRootJoints();
 recursivelyTestJointStateIsTheSame(jointsA, jointsB);
}

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