us.ihmc.simulationconstructionset.Robot.addRootJoint()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.addRootJoint方法的一些代码示例，展示了Robot.addRootJoint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.addRootJoint方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：addRootJoint

Robot.addRootJoint介绍

暂无

代码示例

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

private Robot createRobot()
  {
    Robot robot = new Robot("RandomRobot");

    PinJoint pinJoint = new PinJoint("TestPinJoint", new Vector3D(), robot, new Vector3D(0, 0, 1));
    robot.addRootJoint(pinJoint);

    return robot;
  }
}

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

@Test// timeout=300000
public void testGetAndSetParentJoint() 
{
  PinJoint joint = new PinJoint("joint", new Vector3D(0.0, 0.0, 0.0), robot, Axis.X);
  robot.addRootJoint(joint);
  kinematicPoint.setParentJoint(joint);
  assertTrue(joint == kinematicPoint.getParentJoint());
}

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

private Robot createSimpleRobotOne(String name)
{
  Robot robot = new Robot(name);
  PinJoint joint1 = new PinJoint("joint", new Vector3D(0.0, 0.0, 0.0), robot, Axis.Y);
  Link link1 = link1();
  joint1.setLink(link1);
  robot.addRootJoint(joint1);
  
  joint1.setInitialState(0.11, 0.22);
  joint1.setTau(33.3);
  return robot;
}

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

private Robot createSimpleRobotTwo(String name)
{
  Robot robot = new Robot(name);
  PinJoint joint2 = new PinJoint("joint", new Vector3D(0.0, 0.0, 0.0), robot, Axis.Y);
  Link link2 = link2();
  joint2.setLink(link2);
  robot.addRootJoint(joint2);
  
  joint2.setInitialState(0.11, 0.22);
  joint2.setTau(33.3);
  return robot;
}

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

private Robot createSimpleRobot()
{
 Robot robot0 = new Robot("robot");
 FloatingJoint floatingJoint0 = new FloatingJoint("floatingJoint", new Vector3D(), robot0);
 Link link0 = new Link("body");
 link0.setMass(1.0);
 link0.setMomentOfInertia(0.1, 0.1, 0.1);
 floatingJoint0.setLink(link0);
 robot0.addRootJoint(floatingJoint0);
 return robot0;
}

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

@Test// timeout=300000
public void testFloatingJointAndPinJointWithMassiveBody() throws UnreasonableAccelerationException
{
 Random random = new Random(1659L);
 Robot robot = new Robot("r1");
 robot.setGravity(0.0);
 FloatingJoint root1 = new FloatingJoint("root1", new Vector3D(), robot);
 robot.addRootJoint(root1);
 Link floatingBody = new Link("floatingBody");
 floatingBody.setMass(random.nextDouble());
 floatingBody.setComOffset(random.nextDouble(), random.nextDouble(), random.nextDouble());
 floatingBody.setMomentOfInertia(getRotationalInertiaMatrixOfSolidEllipsoid(floatingBody.getMass(), random.nextDouble(),
     random.nextDouble(), random.nextDouble()));
 root1.setLink(floatingBody);
 Vector3D offset = EuclidCoreRandomTools.nextVector3D(random);
 PinJoint pin1 = new PinJoint("pin1", offset, robot, EuclidCoreRandomTools.nextVector3D(random));
 pin1.setLink(massiveLink());
 root1.addJoint(pin1);
 pin1.setTau(random.nextDouble());
 robot.doDynamicsButDoNotIntegrate();
 double scalarInertiaAboutJointAxis = computeScalarInertiaAroundJointAxis(floatingBody, pin1);
 double torqueFromDynamics = scalarInertiaAboutJointAxis * pin1.getQDDYoVariable().getDoubleValue();
 assertEquals(pin1.getTauYoVariable().getDoubleValue(), torqueFromDynamics, pin1.getTauYoVariable().getDoubleValue() * 1e-3);
}

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

currentJoint.setInitialState(jointPosition, jointVelocity);
if (previousJoint == null)
 robot.addRootJoint(currentJoint);
else
 previousJoint.addJoint(currentJoint);

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

public LaunchedBall(String name, Robot robot, double collisionDistance, double density)
{
 super(name, name, new Vector3D(), robot);
 setDynamic(false);
 setPositionAndVelocity(1000.0, 1000.0, -1000.0, 0.0, 0.0, 0.0); // Hide them away at the start.
 Link link = new Link(name);
 Graphics3DObject linkGraphics = new Graphics3DObject();
 linkGraphics.setChangeable(true);
 linkGraphicsScale = linkGraphics.scale(1.0);
 linkGraphics.addSphere(0.1);
 link.setLinkGraphics(linkGraphics);
 setLink(link);
 robot.addRootJoint(this);
 this.collisionDistance = collisionDistance;
 this.density = density;
}

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

public FloatingJoint cube(ScsCollisionDetector collisionDetector, String name, double mass, RigidBodyTransform shapeToLink, double radiusX, double radiusY, double radiusZ, int collisionGroup, int collisionMask)
{
 Robot robot = new Robot("null");
 FloatingJoint joint = new FloatingJoint("cube", new Vector3D(), robot);
 Link link = new Link(name);
 //    link.setMass(mass);
 //    link.setMomentOfInertia(0.1 * mass, 0.1 * mass, 0.1 * mass);
 //    link.enableCollisions(10,null);
 CollisionShapeFactory factory = collisionDetector.getShapeFactory();
 factory.setMargin(0.0000002);
 CollisionShapeDescription<?> shapeDesc = factory.createBox(radiusX, radiusY, radiusZ);
 factory.addShape(link, shapeToLink, shapeDesc, false, collisionGroup, collisionMask);
 joint.setLink(link);
 robot.addRootJoint(joint);
 return joint;
}

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

@Test// timeout = 30000
  public void testDummyOneDegreeOfFreedomJoint()
  {
   Robot robot = new Robot("testDummyOneDegreeOfFreedomJoint");
   Vector3D jointAxis = new Vector3D(0.0, 1.0, 0.0);
   DummyOneDegreeOfFreedomJoint jointOne = new DummyOneDegreeOfFreedomJoint("jointOne", new Vector3D(), robot, jointAxis);

   Link linkOne = new Link("linkOne");
   linkOne.setMassAndRadiiOfGyration(1.0, 0.1, 0.1, 0.1);

   Graphics3DObject linkOneGraphics = new Graphics3DObject();
   linkOneGraphics.addCylinder(0.1, 0.01);

   linkOne.setLinkGraphics(linkOneGraphics);
   jointOne.setLink(linkOne);

   robot.addRootJoint(jointOne);

   if (keepSCSUp)
   {
     SimulationConstructionSetParameters parameters = SimulationTestingParameters.createFromSystemProperties();
     SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
     scs.startOnAThread();
     ThreadTools.sleepForever();
   }
  }
}

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

@Test// timeout = 30000
public void testOneRigidJoint()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(1.1, 2.2, 3.3);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 EuclidCoreTestTools.assertTuple3DEquals(centerOfMassOffset, centerOfMass, 1e-10);
}

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

@Test// timeout=300000
public void testOffsetAtCenterOfMassWithCantileveredBeam() throws UnreasonableAccelerationException
{
 double massOne = 7.21;
 Robot robot = new Robot("JointWrenchSensorTest");
 PinJoint pinJointOne = createPinJointWithHangingMass("pinJointOne", massOne, Axis.Y, robot);
 
 Vector3D comOffsetFromJointOne = new Vector3D();
 pinJointOne.getLink().getComOffset(comOffsetFromJointOne);
 
 JointWrenchSensor jointWrenchSensorOne = new JointWrenchSensor("jointWrenchSensorOne", comOffsetFromJointOne, robot);
 pinJointOne.addJointWrenchSensor(jointWrenchSensorOne);
 assertTrue(jointWrenchSensorOne == pinJointOne.getJointWrenchSensor());
 robot.addRootJoint(pinJointOne);
 
 pinJointOne.setQ(Math.PI/2.0);
 pinJointOne.setTau(massOne * robot.getGravityZ() * comOffsetFromJointOne.getZ());
 
 robot.doDynamicsAndIntegrate(0.0001);
 
 double jointAcceleration = pinJointOne.getQDDYoVariable().getDoubleValue();
 assertEquals(0.0, jointAcceleration, 1e-7);
 
 Vector3D expectedJointForce = new Vector3D(-massOne * robot.getGravityZ(), 0.0, 0.0);
 Vector3D expectedJointTorque = new Vector3D();
 assertJointWrenchEquals(jointWrenchSensorOne, expectedJointForce, expectedJointTorque);
}

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

@Test// timeout = 30000
public void testOneRigidJointWithTranslation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 Vector3D translation = new Vector3D(1.1, 2.2, 3.3);
 rigidJointOne.setRigidTranslation(translation);
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setTranslation(translation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.99, -0.4, 1.1);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 expectedCenterOfMass.add(translation);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

@Test// timeout = 30000
public void testOneRigidJointWithRotation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 RotationMatrix rotation = new RotationMatrix();
 Vector3D eulerAngles = new Vector3D(0.3, 0.1, 0.2);
 rotation.setEuler(eulerAngles);
 rigidJointOne.setRigidRotation(rotation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.3, 0.7, 1.11);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 rotation.transform(expectedCenterOfMass);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

@Test// timeout = 30000
public void testOneRigidJointWithRotationAndTranslation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 RotationMatrix rotation = new RotationMatrix();
 Vector3D eulerAngles = new Vector3D(0.3, 0.1, 0.2);
 rotation.setEuler(eulerAngles);
 rigidJointOne.setRigidRotation(rotation);
 Vector3D translation = new Vector3D(0.3, -0.99, 1.11);
 rigidJointOne.setRigidTranslation(translation);
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setTranslation(translation);
 transform.setRotation(rotation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.3, 0.7, 1.11);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 transform.transform(expectedCenterOfMass);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

private void createFloatingRobot()
{
 Robot floatingRobot = new Robot("floatingRobot");
 Vector3D position = new Vector3D(0.0, 0.02, 1.1);
 double length = 0.01;
 floatingRobot.setGravity(0.0, 0.0, 0.0);
 horizontalJoint = new SliderJoint("y", position, floatingRobot, Axis.Y);
 floatingRobot.addRootJoint(horizontalJoint);
 Link linkHorizontal = new Link("linkHorizontal");
 linkHorizontal.setMass(0.5);
 linkHorizontal.setComOffset(length / 2.0, 0.0, 0.0);
 linkHorizontal.setMomentOfInertia(0.0, 0.01, 0.0);
 Graphics3DObject linkHorizontalGraphics = new Graphics3DObject();
 linkHorizontalGraphics.addCylinder(length * 10, 0.005, YoAppearance.Orange());
 linkHorizontal.setLinkGraphics(linkHorizontalGraphics);
 horizontalJoint.setLink(linkHorizontal);
 verticalJoint = new SliderJoint("z", new Vector3D(0.0, 0.0, 0.0), floatingRobot, Axis.Z);
 Link linkVertical = new Link("linkVertical");
 linkVertical.setMass(0.5);
 linkVertical.setComOffset(length / 2.0, 0.0, 0.0);
 linkVertical.setMomentOfInertia(0.0, 0.01, 0.0);
 Graphics3DObject linkVerticalGraphics = new Graphics3DObject();
 linkVerticalGraphics.addCylinder(length, 0.005, YoAppearance.Blue());
 linkVertical.setLinkGraphics(linkVerticalGraphics);
 verticalJoint.setLink(linkVertical);
 horizontalJoint.addJoint(verticalJoint);
 createFloatingRobotController();
 robots[0] = floatingRobot;
 robots[0].setController(floatingRobotController);
}

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

pinJointOne.addJointWrenchSensor(jointWrenchSensorOne);
assertTrue(jointWrenchSensorOne == pinJointOne.getJointWrenchSensor());
robot.addRootJoint(pinJointOne);

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

@Test// timeout=300000
public void testCalculateAngularMomentum()
{
  double epsilon = 1e-7;
  Robot robot1 = new Robot("r1");
  FloatingJoint floatingJoint1 = new FloatingJoint("joint1", new Vector3D(),robot1);
  robot1.addRootJoint(floatingJoint1);
  Link onlyLink=new Link("SphericalLink");
  onlyLink.setComOffset(new Vector3D(0.0, 0.0, 0.0));
  onlyLink.setMass(1.0);
  onlyLink.setMomentOfInertia(1.0, 1.0, 1.0);
  floatingJoint1.setLink(onlyLink);
  floatingJoint1.setPosition(new Point3D(1.0,1.0,1.0));
  floatingJoint1.setAngularVelocityInBody(new Vector3D(1.0,0.0,0.0));
  floatingJoint1.setVelocity(-1.0, 0.0, 0.0);
  Vector3D angularMomentumReturned = new Vector3D();
  robot1.computeAngularMomentum(angularMomentumReturned);
  EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(0.0, 0.0, 0.0), angularMomentumReturned, epsilon);
  robot1.update();
  robot1.computeAngularMomentum(angularMomentumReturned);
  EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(0.0, 0.0, 0.0), angularMomentumReturned, epsilon);
  robot1.updateVelocities();
  robot1.computeAngularMomentum(angularMomentumReturned);
  //System.out.printf("Momentum <%+3.4f,%+3.4f,%+3.4f>", angularMomentumReturned.x,angularMomentumReturned.y,angularMomentumReturned.z);
  EuclidCoreTestTools.assertTuple3DEquals(new Vector3D(1.0, -1.0, 1.0), angularMomentumReturned, epsilon);
  floatingJoint1.setPosition(new Vector3D());
  }

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

pinJointOne.addJointWrenchSensor(jointWrenchSensorOne);
assertTrue(jointWrenchSensorOne == pinJointOne.getJointWrenchSensor());
robot.addRootJoint(pinJointOne);

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

robot.addRootJoint(rootJoint);

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