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

Robot.updateVelocities介绍

暂无

代码示例

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

@Override
  public void updateContactPoints()
  {
   robot.update();
   robot.updateVelocities();
  }
}

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

@Override
public void updateContactPoints()
{
 robot.update();
 robot.updateVelocities();
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout=300000)
public void testTree()
{
 Random random = new Random(167L);
 Robot robot = new Robot("robot");
 ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
 LinkedHashMap<RevoluteJoint, PinJoint> jointMap = new LinkedHashMap<RevoluteJoint, PinJoint>();
 RigidBodyBasics elevator = new RigidBody("elevator", worldFrame);
 double gravity = 0.0;
 int numberOfJoints = 3;
 InverseDynamicsCalculatorSCSTest.createRandomTreeRobotAndSetJointPositionsAndVelocities(robot, jointMap, worldFrame, elevator, numberOfJoints, gravity,
    true, true, random);
 robot.updateVelocities();
 CenterOfMassReferenceFrame centerOfMassFrame = new CenterOfMassReferenceFrame("com", worldFrame, elevator);
 centerOfMassFrame.update();
 CentroidalMomentumCalculator centroidalMomentumMatrix = new CentroidalMomentumCalculator(elevator, centerOfMassFrame);
 centroidalMomentumMatrix.reset();
 Momentum comMomentum = computeCoMMomentum(elevator, centerOfMassFrame, centroidalMomentumMatrix);
 Point3D comPoint = new Point3D();
 Vector3D linearMomentum = new Vector3D();
 Vector3D angularMomentum = new Vector3D();
 robot.computeCOMMomentum(comPoint, linearMomentum, angularMomentum);
 EuclidCoreTestTools.assertTuple3DEquals(linearMomentum, comMomentum.getLinearPart(), 1e-12);
 EuclidCoreTestTools.assertTuple3DEquals(angularMomentum, comMomentum.getAngularPart(), 1e-12);
}

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

rootJoint.setVelocity(linearVelocityInWorld);
rootJoint.setAngularVelocityInBody(angularVelocity);
robot.updateVelocities();
Point3D comPoint = new Point3D();
Vector3D linearMomentum = new Vector3D();

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

robot2.update();
robot1.updateVelocities();
robot2.updateVelocities();

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

linearMomentum.set(temp);
robot.updateVelocities();
robot.doDynamicsAndIntegrate(simulateDT);
robot.update();

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

floatingJoint.setAngularVelocityInBody(new Vector3D(0.13, 1.0, 0.11));
robot.update();
robot.updateVelocities();
robot.doDynamicsButDoNotIntegrate();