本文整理了Java中us.ihmc.mecano.multiBodySystem.interfaces.FloatingJointBasics.getFrameBeforeJoint()方法的一些代码示例，展示了FloatingJointBasics.getFrameBeforeJoint()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。FloatingJointBasics.getFrameBeforeJoint()方法的具体详情如下：
包路径：us.ihmc.mecano.multiBodySystem.interfaces.FloatingJointBasics
类名称：FloatingJointBasics
方法名：getFrameBeforeJoint

FloatingJointBasics.getFrameBeforeJoint介绍

暂无

代码示例

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

private void compareJointAccelerations(double epsilon)
{
  boolean areEqual = true;
  String errorMessage = "Joint accelerations are not equal\n";
  String jointTriggerErrorMessage = "";
  FloatingJoint scsFloatingJoint = (FloatingJoint) robot.getRootJoints().get(0);
  SpatialAcceleration expected = extractFromFloatingJoint(scsFloatingJoint, floatingJoint.getFrameBeforeJoint(), floatingJoint.getFrameAfterJoint());
  if (!floatingJoint.getJointAcceleration().epsilonEquals(expected, epsilon))
  {
   areEqual = false;
   jointTriggerErrorMessage = " floating-joint";
  }
  errorMessage += "Floating joint:\nExpected: " + expected + "\nActual  : " + floatingJoint.getJointAcceleration();
  for (OneDoFJointBasics joint : allOneDoFJoints)
  {
   String jointName = joint.getName();
   OneDegreeOfFreedomJoint scsJoint = (OneDegreeOfFreedomJoint) robot.getJoint(jointName);
   if (!EuclidCoreTools.epsilonEquals(scsJoint.getQDD(), joint.getQdd(), epsilon))
   {
     areEqual = false;
     jointTriggerErrorMessage += " " + jointName;
   }
   errorMessage += "\n" + jointName + ",\texpected: " + String.format(FORMAT, scsJoint.getQDD()) + ",\tactual: "
      + String.format(FORMAT, joint.getQdd()) + ", difference: " + String.format(FORMAT, Math.abs(scsJoint.getQDD() - joint.getQdd()));
  }
  if (!areEqual)
  {
   throw new RuntimeException(errorMessage + "\nJoint(s) triggering error:" + jointTriggerErrorMessage);
  }
}

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

public void setFullRobotModelRootJointVelocityAndAngularVelocityToMatchRobot(FloatingJointBasics sixDoFJoint, FloatingJoint floatingJoint)
{
 FrameVector3D angularVelocityFrameVector = new FrameVector3D();
 FrameVector3D linearVelocityFrameVector = new FrameVector3D();
 ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = sixDoFJoint.getFrameAfterJoint();
 floatingJoint.getVelocity(linearVelocityFrameVector);
 linearVelocityFrameVector.changeFrame(bodyFrame);
 floatingJoint.getAngularVelocity(angularVelocityFrameVector, bodyFrame);
 Twist bodyTwist = new Twist(bodyFrame, elevatorFrame, bodyFrame, angularVelocityFrameVector, linearVelocityFrameVector);
 sixDoFJoint.setJointTwist(bodyTwist);
}

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

public void updateJointVelocities_SCS_to_ID()
{
  if (scsFloatingJoint != null)
  {
   ReferenceFrame elevatorFrame = idFloatingJoint.getFrameBeforeJoint();
   ReferenceFrame rootBodyFrame = idFloatingJoint.getFrameAfterJoint();
   scsFloatingJoint.getVelocity(linearVelocity);
   linearVelocity.changeFrame(rootBodyFrame);
   scsFloatingJoint.getAngularVelocity(angularVelocity, rootBodyFrame);
   rootJointTwist.setIncludingFrame(rootBodyFrame, elevatorFrame, rootBodyFrame, angularVelocity, linearVelocity);
   idFloatingJoint.setJointTwist(rootJointTwist);
  }
  for (OneDegreeOfFreedomJoint scsJoint : allSCSOneDoFJoints)
  {
   OneDoFJointBasics idJoint = scsToIDJointMap.get(scsJoint);
   idJoint.setQd(scsJoint.getQDYoVariable().getDoubleValue());
  }
}

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

private void readAndUpdateRootJointAngularAndLinearVelocity()
{      
 ReferenceFrame elevatorFrame = rootJoint.getFrameBeforeJoint();
 ReferenceFrame pelvisFrame = rootJoint.getFrameAfterJoint();
 // Update base frames without updating all frames to transform velocity into pelvis
 elevatorFrame.update();
 pelvisFrame.update();
 
 FrameVector3D linearVelocity = robot.getRootJointVelocity();
 linearVelocity.changeFrame(pelvisFrame);
 FrameVector3D angularVelocity = robot.getRootJointAngularVelocityInRootJointFrame(pelvisFrame);
 angularVelocity.changeFrame(pelvisFrame);
 Twist bodyTwist = new Twist(pelvisFrame, elevatorFrame, pelvisFrame, angularVelocity, linearVelocity);
 rootJoint.setJointTwist(bodyTwist);
}

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

public void setSixDoFJointAccelerationRandomly(FloatingJointBasics sixDoFJoint, Random random, double maxRootJointLinearAcceleration,
   double maxRootJointAngularAcceleration)
{
 // Note: To get the acceleration, you can't just changeFrame on the acceleration provided by SCS. Use setBasedOnOriginAcceleration instead.
 ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = sixDoFJoint.getFrameAfterJoint();
 Twist bodyTwist = new Twist();
 bodyTwist.setIncludingFrame(sixDoFJoint.getJointTwist());
 FrameVector3D originAcceleration = new FrameVector3D(elevatorFrame, RandomGeometry.nextVector3D(random, maxRootJointLinearAcceleration));
 FrameVector3D angularAcceleration = new FrameVector3D(bodyFrame, RandomGeometry.nextVector3D(random, maxRootJointAngularAcceleration));
 //      originAcceleration.changeFrame(elevatorFrame);
 SpatialAcceleration spatialAccelerationVector = new SpatialAcceleration(bodyFrame, elevatorFrame, bodyFrame);
 spatialAccelerationVector.setBasedOnOriginAcceleration(angularAcceleration, originAcceleration, bodyTwist);
 sixDoFJoint.setJointAcceleration(spatialAccelerationVector);
}

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

public void copyAccelerationFromForwardToInverseBroken(FloatingJoint floatingJoint, FloatingJointBasics sixDoFJoint)
{
 ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = sixDoFJoint.getFrameAfterJoint();
 FrameVector3D angularAccelerationInBody = new FrameVector3D();
 floatingJoint.getAngularAcceleration(angularAccelerationInBody, bodyFrame);
 FrameVector3D linearAccelerationInBody = new FrameVector3D();
 floatingJoint.getLinearAcceleration(linearAccelerationInBody);
 linearAccelerationInBody.changeFrame(bodyFrame);
 SpatialAcceleration jointAcceleration = new SpatialAcceleration(bodyFrame, elevatorFrame, bodyFrame);
 jointAcceleration.getLinearPart().set(linearAccelerationInBody);
 jointAcceleration.getAngularPart().set(angularAccelerationInBody);
 sixDoFJoint.setJointAcceleration(jointAcceleration);
}

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

public void copyAccelerationFromForwardToInverse(FloatingJoint floatingJoint, FloatingJointBasics sixDoFJoint)
{
 // Note: To get the acceleration, you can't just changeFrame on the acceleration provided by SCS. Use setBasedOnOriginAcceleration instead.
 ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = sixDoFJoint.getFrameAfterJoint();
 Twist bodyTwist = new Twist();
 bodyTwist.setIncludingFrame(sixDoFJoint.getJointTwist());
 FrameVector3D originAcceleration = new FrameVector3D(elevatorFrame);
 FrameVector3D angularAcceleration = new FrameVector3D(bodyFrame);
 floatingJoint.getLinearAccelerationInWorld(originAcceleration);
 floatingJoint.getAngularAccelerationInBody(angularAcceleration);
 originAcceleration.changeFrame(elevatorFrame);
 SpatialAcceleration spatialAccelerationVector = new SpatialAcceleration(bodyFrame, elevatorFrame, bodyFrame);
 spatialAccelerationVector.setBasedOnOriginAcceleration(angularAcceleration, originAcceleration, bodyTwist);
 sixDoFJoint.setJointAcceleration(spatialAccelerationVector);
}

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

public void setFullRobotModelStateRandomly(Random random, double maxJointVelocity, double maxRootJointLinearAndAngularVelocity)
{
 FloatingJointBasics rootJoint = fullRobotModel.getRootJoint();
 ReferenceFrame elevatorFrame = rootJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = rootJoint.getFrameAfterJoint();
 Twist bodyTwist = new Twist(bodyFrame, elevatorFrame, bodyFrame, RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity),
    RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity));
 rootJoint.setJointTwist(bodyTwist);
 rootJoint.setJointPosition(RandomGeometry.nextVector3D(random));
 double yaw = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 double pitch = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 double roll = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 rootJoint.getJointPose().setOrientationYawPitchRoll(yaw, pitch, roll);
 ArrayList<OneDoFJointBasics> oneDoFJoints = new ArrayList<OneDoFJointBasics>();
 fullRobotModel.getOneDoFJoints(oneDoFJoints);
 for (OneDoFJointBasics oneDoFJoint : oneDoFJoints)
 {
   double lowerLimit = oneDoFJoint.getJointLimitLower();
   double upperLimit = oneDoFJoint.getJointLimitUpper();
   double delta = upperLimit - lowerLimit;
   lowerLimit = lowerLimit + 0.05 * delta;
   upperLimit = upperLimit - 0.05 * delta;
   oneDoFJoint.setQ(RandomNumbers.nextDouble(random, lowerLimit, upperLimit));
   oneDoFJoint.setQd(RandomNumbers.nextDouble(random, maxJointVelocity));
 }
}

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

public boolean checkFullRobotModelRootJointAccelerationmatchesRobot(FloatingJoint floatingJoint, FloatingJointBasics sixDoFJoint, double epsilon)
{
 // Note: To get the acceleration, you can't just changeFrame on the acceleration provided by SCS. Use setBasedOnOriginAcceleration instead.
 ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = sixDoFJoint.getFrameAfterJoint();
 Twist bodyTwist = new Twist();
 bodyTwist.setIncludingFrame(sixDoFJoint.getJointTwist());
 FrameVector3D originAcceleration = new FrameVector3D(elevatorFrame);
 FrameVector3D angularAcceleration = new FrameVector3D(bodyFrame);
 floatingJoint.getLinearAccelerationInWorld(originAcceleration);
 floatingJoint.getAngularAccelerationInBody(angularAcceleration);
 originAcceleration.changeFrame(elevatorFrame);
 //TODO: These should be from the inverse dynamics to the SCS frames...
 originAcceleration.changeFrame(ReferenceFrame.getWorldFrame());
 computedRootJointLinearAcceleration.set(originAcceleration);
 computedRootJointAngularAcceleration.set(angularAcceleration);
 SpatialAcceleration spatialAccelerationVectorOfSimulatedRootJoint = new SpatialAcceleration(bodyFrame, elevatorFrame, bodyFrame);
 spatialAccelerationVectorOfSimulatedRootJoint.setBasedOnOriginAcceleration(angularAcceleration, originAcceleration, bodyTwist);
 SpatialAcceleration spatialAccelerationVectorOfInverseDynamicsRootJoint = new SpatialAcceleration();
 spatialAccelerationVectorOfInverseDynamicsRootJoint.setIncludingFrame(sixDoFJoint.getJointAcceleration());
 return spatialAccelerationVectorOfInverseDynamicsRootJoint.epsilonEquals(spatialAccelerationVectorOfInverseDynamicsRootJoint, epsilon);
}

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

ReferenceFrame elevatorFrame = sixDoFJoint.getFrameBeforeJoint();
ReferenceFrame pelvisFrame = sixDoFJoint.getFrameAfterJoint();

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

frameLinearVelocity.changeFrame(rootJoint.getFrameAfterJoint());
frameAngularVelocity.changeFrame(rootJoint.getFrameAfterJoint());
rootJointTwist.setIncludingFrame(rootJoint.getFrameAfterJoint(), rootJoint.getFrameBeforeJoint(), rootJoint.getFrameAfterJoint(), frameAngularVelocity,
          frameLinearVelocity);
rootJoint.setJointTwist(rootJointTwist);