本文整理了Java中us.ihmc.simulationconstructionset.Robot.getAllOneDegreeOfFreedomJoints方法的一些代码示例，展示了Robot.getAllOneDegreeOfFreedomJoints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.getAllOneDegreeOfFreedomJoints方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：getAllOneDegreeOfFreedomJoints

Robot.getAllOneDegreeOfFreedomJoints介绍

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代码示例

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

private static ArrayList<OneDegreeOfFreedomJoint> getAllRobotJoints(Robot robot)
{
 ArrayList<OneDegreeOfFreedomJoint> ret = new ArrayList<>();
 robot.getAllOneDegreeOfFreedomJoints(ret);
 return ret;
}

代码示例来源：origin: us.ihmc/ihmc-system-identification

public LinkComIDActionListener(DataBuffer dataBuffer, Robot robot)
{
 this.dataBuffer = dataBuffer;
 this.robot = robot;
 ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>();
 robot.getAllOneDegreeOfFreedomJoints(joints);
 this.linkNames = new String[joints.size()];
 for (int i = 0; i < linkNames.length; i++)
 {
   linkNames[i] = joints.get(i).getLink().getName();
 }
}

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

public static void setRandomEffort(Random random, Robot robot)
{
 ArrayList<OneDegreeOfFreedomJoint> joints = new ArrayList<>();
 robot.getAllOneDegreeOfFreedomJoints(joints);
 for (OneDegreeOfFreedomJoint joint : joints)
   joint.setTau(EuclidCoreRandomTools.nextDouble(random));
}

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

Map<String, OneDegreeOfFreedomJoint> scsJointMap = new HashMap<>();
ArrayList<OneDegreeOfFreedomJoint> scsOnDoFJointList = new ArrayList<>();
robot.getAllOneDegreeOfFreedomJoints(scsOnDoFJointList);
scsOnDoFJointList.forEach(joint -> scsJointMap.put(joint.getName(), joint));

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/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-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/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/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

scsRobot.getAllOneDegreeOfFreedomJoints(allSCSRobotOneDoFJoints);