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

Robot.getAllGroundContactPoints介绍

暂无

代码示例

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

public void addGroundContactPoint(Robot robot, String groundContactPointName)
{
 ArrayList<GroundContactPoint> allGroundContactPoints = robot.getAllGroundContactPoints();
 for (GroundContactPoint groundContactPoint : allGroundContactPoints)
 {
   if (groundContactPoint.getName().equals(groundContactPointName))
   {
    this.addGroundContactPoint(groundContactPoint);
    return;
   }
 }
}

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

public DRCSimulationVisualizer(Robot robot, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 this.robot = robot;
 
 YoGraphicsList yoGraphicsList = new YoGraphicsList("Simulation Viz");
 ArrayList<GroundContactPoint> groundContactPoints = robot.getAllGroundContactPoints();
 AppearanceDefinition appearance = YoAppearance.Red(); // BlackMetalMaterial();
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   double scaleFactor = 0.0015;
   YoGraphicVector dynamicGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(), groundContactPoint.getYoForce(), scaleFactor, appearance);
   yoGraphicsList.add(dynamicGraphicVector);
 }
 
 if (yoGraphicsListRegistry != null)
   yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 
 
 robot.setController(this, 10);
}

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

private void createContactPoints(Robot floatingRobot)
{
 GroundContactPoint contactPoint1 = new GroundContactPoint("contactPoint1", new Vector3D(0.0, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint1);
 GroundContactPoint contactPoint2 = new GroundContactPoint("contactPoint2", new Vector3D(-0.002, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint2);
 GroundContactPoint contactPoint3 = new GroundContactPoint("contactPoint3", new Vector3D(0.002, 0.0, 0.0), floatingRobot);
 verticalJoint.addGroundContactPoint(1, contactPoint3);
 ContactController contactController = new ContactController();
 contactController.setContactParameters(10000.0, 1000.0, 0.5, 0.3);
 contactController.addContactPoints(robots[0].getAllGroundContactPoints());
 ArrayList<Contactable> robotList = new ArrayList<Contactable>();
 robotList.add((Contactable) robots[1]);
 contactController.addContactables(robotList);
 robots[1].setController(contactController);
}

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

private void getExternalWrenchesFromSCS()
{
  calculator.setExternalWrenchesToZero();
  for (ExternalForcePoint efp : robot.getAllGroundContactPoints())
  {
   String parentJointName = efp.getParentJoint().getName();
   RigidBodyBasics body = nameToJointMap.get(parentJointName).getSuccessor();
   FrameVector3DReadOnly moment = efp.getYoMoment();
   FrameVector3DReadOnly force = efp.getYoForce();
   FramePoint3D pointOfApplication = new FramePoint3D(efp.getYoPosition());
   pointOfApplication.changeFrame(body.getBodyFixedFrame());
   SpatialVector vector6D = new SpatialVector(moment, force);
   vector6D.changeFrame(body.getBodyFixedFrame());
   Wrench externalWrench = new Wrench(body.getBodyFixedFrame(), body.getBodyFixedFrame());
   externalWrench.set(vector6D.getAngularPart(), vector6D.getLinearPart(), pointOfApplication);
   calculator.getExternalWrench(body).add(externalWrench);
  }
}

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

GroundContactPoint groundContactPoint = robot.getAllGroundContactPoints().get(0);
YoFramePoint3D yoPosition = groundContactPoint.getYoPosition();
xPosition = dataBuffer.getEntry(yoPosition.getYoX()).getData();