本文整理了Java中us.ihmc.mecano.multiBodySystem.interfaces.FloatingJointBasics.getSuccessor()方法的一些代码示例，展示了FloatingJointBasics.getSuccessor()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.getSuccessor()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：getSuccessor

FloatingJointBasics.getSuccessor介绍

暂无

代码示例

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

public ConstrainedCenterOfMassJacobianCalculator(FloatingJointBasics rootJoint)
{
 this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint, true);
 this.centerOfMassJacobian = new CenterOfMassJacobian(rootJoint.getSuccessor(), rootJoint.getSuccessor().getBodyFixedFrame());
}

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

/**
* Retrieves the child or successor {@code RigidBody} from a simulated joint.
* <p>
* This method first retrieves the corresponding inverse dynamics joint and then returns its
* successor.
* </p>
* 
* @param joint the simulated joint.
* @return the child/successor rigid-body.
*/
public RigidBodyBasics getRigidBody(Joint joint)
{
 if (joint instanceof FloatingJoint)
 {
   FloatingJointBasics parentSixDoFJoint = floatingToSixDofToJointMap.get(joint);
   return parentSixDoFJoint.getSuccessor();
 }
 else if (joint instanceof OneDegreeOfFreedomJoint)
 {
   OneDoFJointBasics parentOneDoFJoint = scsToOneDoFJointMap.get(joint);
   return parentOneDoFJoint.getSuccessor();
 }
 else
 {
   throw new RuntimeException();
 }
}

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

public ConstrainedCentroidalMomentumMatrixCalculator(FloatingJointBasics rootJoint, ReferenceFrame centerOfMassFrame,
                          DenseMatrix64F selectionMatrix)
{
 this.dynamicallyConsistentNullspaceCalculator = new OriginalDynamicallyConsistentNullspaceCalculator(rootJoint,
    true);
 this.centroidalMomentumCalculator = new CentroidalMomentumCalculator(rootJoint.getSuccessor(), centerOfMassFrame);
 this.selectionMatrix = selectionMatrix;
}

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

JointBasics[] inverseDynamicsJoints = MultiBodySystemTools.collectSubtreeJoints(sixDoFRootJoint.getSuccessor());
LinkedHashMap<String, OneDoFJointBasics> inverseDynamicsJointsByName = new LinkedHashMap<String, OneDoFJointBasics>();

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

public OriginalDynamicallyConsistentNullspaceCalculator(FloatingJointBasics rootJoint,
                            boolean computeSNsBar)
{
 this.rootJoint = rootJoint;
 this.massMatrixCalculator = new CompositeRigidBodyMassMatrixCalculator(rootJoint.getSuccessor());
 jointsInOrder = massMatrixCalculator.getInput().getJointMatrixIndexProvider().getIndexedJointsInOrder().toArray(new JointBasics[0]);
 this.nDegreesOfFreedom = MultiBodySystemTools.computeDegreesOfFreedom(jointsInOrder);
 massMatrixSolver = LinearSolverFactory.symmPosDef(nDegreesOfFreedom);
 lambdaSolver = LinearSolverFactory.symmPosDef(nDegreesOfFreedom); // size of matrix is only used to choose algorithm. nDegreesOfFreedom is an upper limit
 pseudoInverseSolver = LinearSolverFactory.pseudoInverse(true);
 this.computeSNsBar = computeSNsBar;
}

代码示例来源：origin: us.ihmc/ihmc-whole-body-controller

allJoints = MultiBodySystemTools.collectSupportAndSubtreeJoints(fullRobotModel.getRootJoint().getSuccessor());
v = new DenseMatrix64F(MultiBodySystemTools.computeDegreesOfFreedom(allJoints), 1);