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

FloatingJointBasics.getPredecessor介绍

暂无

代码示例

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

@Override
public void addConstraint(RigidBodyBasics body, DenseMatrix64F selectionMatrix)
{
 constrainedBodiesAndSelectionMatrices.put(body, selectionMatrix);
 nConstraints += selectionMatrix.getNumRows();
 JointBasics[] jointPath = MultiBodySystemTools.createJointPath(rootJoint.getPredecessor(), body);
 this.supportingBodyToJointPathMap.put(body, Arrays.asList(jointPath));
}

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

private void updateReferenceFrames()
{
 if (referenceFrames != null)
 {
   referenceFrames.updateFrames();
 }
 else
 {
   rootJoint.getPredecessor().updateFramesRecursively();
 }
}

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

Quaternion orientation = robotConfigurationData.getRootOrientation();
rootJoint.getJointPose().getOrientation().setQuaternion(orientation.getX(), orientation.getY(), orientation.getZ(), orientation.getS());
rootJoint.getPredecessor().updateFramesRecursively();

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

desiredRootJoint.getPredecessor().updateFramesRecursively();

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

rootJoint.getPredecessor().updateFramesRecursively();
else
  oneDoFJoints[0].getPredecessor().updateFramesRecursively();

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

@Override
public void receivedPacket(RobotConfigurationData packet)
{
 latestRobotConfigurationData = packet;
 FloatingJointBasics rootJoint = fullRobotModel.getRootJoint();
 TFloatArrayList newJointAngles = packet.getJointAngles();
 TFloatArrayList newJointVelocities = packet.getJointAngles();
 TFloatArrayList newJointTorques = packet.getJointTorques();
 OneDoFJointBasics[] oneDoFJoints = fullRobotModel.getOneDoFJoints();
 for (int i = 0; i < newJointAngles.size(); i++)
 {
   oneDoFJoints[i].setQ(newJointAngles.get(i));
   oneDoFJoints[i].setQd(newJointVelocities.get(i));
   oneDoFJoints[i].setTau(newJointTorques.get(i));
 }
 pelvisTranslationFromRobotConfigurationData.set(packet.getRootTranslation());
 pelvisOrientationFromRobotConfigurationData.set(packet.getRootOrientation());
 rootJoint.getJointPose().setPosition(pelvisTranslationFromRobotConfigurationData.getX(), pelvisTranslationFromRobotConfigurationData.getY(), pelvisTranslationFromRobotConfigurationData.getZ());
 rootJoint.getJointPose().getOrientation().setQuaternion(pelvisOrientationFromRobotConfigurationData.getX(), pelvisOrientationFromRobotConfigurationData.getY(), pelvisOrientationFromRobotConfigurationData.getZ(), pelvisOrientationFromRobotConfigurationData.getS());
 
 computeDriftTransform();
 rootJoint.getPredecessor().updateFramesRecursively();
 yoVariableServer.update(System.currentTimeMillis());
}

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

desiredRootJoint.setJointVelocity(0, new DenseMatrix64F(6, 1));
desiredRootJoint.getPredecessor().updateFramesRecursively();