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

JointBasics.getFrameAfterJoint介绍

暂无

代码示例

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

public MovingReferenceFrame getFrameAfterParentJoint()
{
 return ankle.getFrameAfterJoint();
}

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

public AfterJointReferenceFrameNameMap(RigidBodyBasics base)
{
 for(JointBasics joint : base.childrenSubtreeIterable())
 {
   afterJointReferenceFrames.put(joint.getFrameAfterJoint().getName(), joint.getFrameAfterJoint());
 }
}

代码示例来源：origin: us.ihmc/ihmc-robot-models

@Override
public ReferenceFrame getHeadBaseFrame()
{
 if(head != null)
 {
   JointBasics headJoint = head.getParentJoint();
   return headJoint.getFrameAfterJoint();
 }
 return null;
}

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

private ReferenceFrame createOffsetFrame(JointBasics previousJoint, RigidBodyTransform transformToParent, String frameName)
 {
   ReferenceFrame parentFrame = previousJoint.getFrameAfterJoint();
   ReferenceFrame beforeJointFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent(frameName, parentFrame, transformToParent);
   return beforeJointFrame;
 }
}

代码示例来源：origin: us.ihmc/ihmc-robot-models

@Override public ReferenceFrame getHeadBaseFrame()
{
  return head.getParentJoint().getFrameAfterJoint();
}

代码示例来源：origin: us.ihmc/ihmc-robot-models

protected void checkLinkIsNeededForSensor(JointBasics joint, JointDescription jointDescription)
{
 if(sensorLinksToTrack != null)
 {
   for(int i = 0; i < sensorLinksToTrack.length; i++)
   {
    if(sensorLinksToTrack[i].equalsIgnoreCase(jointDescription.getName()));
    {
      sensorFrames.put(jointDescription.getName(),joint.getFrameAfterJoint());
    }
   }         
 }
}

代码示例来源：origin: us.ihmc/ihmc-robot-models

/** {@inheritDoc} */
@Override
public MovingReferenceFrame getEndEffectorFrame(RobotSide robotSide, LimbName limbName)
{
 return getEndEffector(robotSide, limbName).getParentJoint().getFrameAfterJoint();
}

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

private void addJoint(CollisionBoxProvider collissionBoxProvider, JointBasics joint)
{
 List<CollisionShape> collisionMesh = collissionBoxProvider.getCollisionMesh(joint.getName());
 if (collisionMesh != null)
 {
   trackingCollisionShapes.add(new TrackingCollisionShape(joint.getFrameAfterJoint(), collisionMesh));
 }
 else
 {
   System.err.println(joint + " does not have a collission mesh");
 }
}

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

@Override
  public RigidBodyTransform getJointTransform3D()
  {
   return new RigidBodyTransform(jointToWrap.getFrameAfterJoint().getTransformToParent());
  }
};

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

public WholeBodyTrajectoryToolboxCommandConverter(RigidBodyBasics rootBody)
{
 List<ReferenceFrame> referenceFrames = new ArrayList<>();
 for (JointBasics joint : rootBody.childrenSubtreeIterable())
 {
   referenceFrames.add(joint.getFrameAfterJoint());
   referenceFrames.add(joint.getFrameBeforeJoint());
 }
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
 {
   referenceFrames.add(rigidBody.getBodyFixedFrame());
 }
 referenceFrameHashCodeResolver = new ReferenceFrameHashCodeResolver(referenceFrames);
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
   rigidBodyHashMap.put(rigidBody.hashCode(), rigidBody);
}

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

public KinematicsToolboxCommandConverter(RigidBodyBasics rootBody)
{
 List<ReferenceFrame> referenceFrames = new ArrayList<>();
 for (JointBasics joint : rootBody.childrenSubtreeIterable())
 {
   referenceFrames.add(joint.getFrameAfterJoint());
   referenceFrames.add(joint.getFrameBeforeJoint());
 }
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
 {
   referenceFrames.add(rigidBody.getBodyFixedFrame());
 }
 referenceFrameHashCodeResolver = new ReferenceFrameHashCodeResolver(referenceFrames);
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
   rigidBodyHashMap.put(rigidBody.hashCode(), rigidBody);
}

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

public KinematicsPlanningToolboxCommandConverter(RigidBodyBasics rootBody)
{
 List<ReferenceFrame> referenceFrames = new ArrayList<>();
 for (JointBasics joint : rootBody.childrenSubtreeIterable())
 {
   referenceFrames.add(joint.getFrameAfterJoint());
   referenceFrames.add(joint.getFrameBeforeJoint());
 }
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
 {
   referenceFrames.add(rigidBody.getBodyFixedFrame());
 }
 referenceFrameHashCodeResolver = new ReferenceFrameHashCodeResolver(referenceFrames);
 for (RigidBodyBasics rigidBody : rootBody.subtreeIterable())
   rigidBodyHashMap.put(rigidBody.hashCode(), rigidBody);
}

代码示例来源：origin: us.ihmc/ihmc-robot-models

@Override
public MovingReferenceFrame getEndEffectorFrame(RobotQuadrant robotQuadrant, LimbName limbName)
{
 if (hasQuadrant(robotQuadrant))
   return getEndEffector(robotQuadrant, limbName).getParentJoint().getFrameAfterJoint();
 else
   return null;
}

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

public IMUDefinition(String name, RigidBodyBasics rigidBody, RigidBodyTransform transformFromIMUToJoint)
{
 this.name = name;
 this.rigidBody = rigidBody;
 this.transformFromIMUToJoint = new RigidBodyTransform(transformFromIMUToJoint);
 ReferenceFrame frameAfterJoint = rigidBody.getParentJoint().getFrameAfterJoint();
 imuFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent(name, frameAfterJoint, transformFromIMUToJoint);
}

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

public ForceSensorDefinition(String sensorName, RigidBodyBasics rigidBody, RigidBodyTransform transformFromSensorToParentJoint)
{
 this.sensorName = sensorName;
 this.rigidBody = rigidBody;
 JointBasics parentJoint = rigidBody.getParentJoint();
 this.parentJointName = parentJoint.getName();
 this.transformFromSensorToParentJoint = new RigidBodyTransform(transformFromSensorToParentJoint);
 ReferenceFrame frameAfterJoint = parentJoint.getFrameAfterJoint();
 sensorFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent(sensorName + "Frame", frameAfterJoint, transformFromSensorToParentJoint);
}

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

private void storeJointState()
{
 MultiBodySystemTools.extractJointsState(jointsInOrder, JointStateType.ACCELERATION, storedJointDesiredAccelerations);
 MultiBodySystemTools.extractJointsState(jointsInOrder, JointStateType.VELOCITY, storedJointVelocities);
 for (JointBasics joint : jointsInOrder)
 {
   DenseMatrix64F tauMatrix = new DenseMatrix64F(joint.getDegreesOfFreedom(), 1);
   joint.getJointTau(0, tauMatrix);
   DenseMatrix64F spatialForce = new DenseMatrix64F(SpatialForce.SIZE, 1);
   DenseMatrix64F motionSubspace = new DenseMatrix64F(6, joint.getDegreesOfFreedom());
   joint.getMotionSubspace(motionSubspace);
   CommonOps.mult(motionSubspace, tauMatrix, spatialForce);
   Wrench jointWrench = storedJointWrenches.get(joint);
   jointWrench.setIncludingFrame(joint.getFrameAfterJoint(), spatialForce);
   jointWrench.changeFrame(joint.getFrameAfterJoint());
 }
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

public void holdCurrentPelvisHeight()
{
 yoDesiredPelvisPosition.setFromReferenceFrame(fullRobotModel.getPelvis().getParentJoint().getFrameAfterJoint());
 pelvisSelectionMatrix.clearLinearSelection();
 pelvisSelectionMatrix.selectLinearZ(true);
 pelvisSelectionMatrix.setSelectionFrame(worldFrame);
}

代码示例来源：origin: us.ihmc/mecano

private RigidBody(String bodyName, JointBasics parentJoint, RigidBodyTransform inertiaPose)
{
 if (bodyName == null)
   throw new IllegalArgumentException("Name can not be null");
 name = bodyName;
 this.parentJoint = parentJoint;
 ReferenceFrame frameAfterJoint = parentJoint.getFrameAfterJoint();
 bodyFixedFrame = MovingReferenceFrame.constructFrameFixedInParent(bodyName + "CoM", frameAfterJoint, inertiaPose);
 inertia = new SpatialInertia(bodyFixedFrame, bodyFixedFrame);
 // inertia should be expressed in body frame, otherwise it will change
 inertia.getBodyFrame().checkReferenceFrameMatch(inertia.getReferenceFrame());
 parentJoint.setSuccessor(this);
 nameId = parentJoint.getPredecessor().getNameId() + NAME_ID_SEPARATOR + bodyName;
}

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

public ScriptedFootstepGenerator(HumanoidReferenceFrames referenceFrames, FullHumanoidRobotModel fullRobotModel, WalkingControllerParameters walkingControllerParameters)
{
 this.bipedFeet = setupBipedFeet(referenceFrames, fullRobotModel, walkingControllerParameters);
 for (RobotSide robotSide : RobotSide.values)
 {
   RigidBodyBasics foot = bipedFeet.get(robotSide).getRigidBody();
   ReferenceFrame ankleFrame = foot.getParentJoint().getFrameAfterJoint();
   RigidBodyTransform ankleToSole = new RigidBodyTransform();
   ReferenceFrame soleFrame = referenceFrames.getSoleFrame(robotSide);
   ankleFrame.getTransformToDesiredFrame(ankleToSole, soleFrame);
   transformsFromAnkleToSole.put(robotSide, ankleToSole);
 }
}

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

private static CenterOfMassCalculator createCenterOfMassCalculatorInJointZUpFrame(RigidBodyBasics rootBody, boolean preserveY)
  {
   if (DEBUG) System.out.println("\nCenterOfMassCalibrationTool: rootBody = " + rootBody);

   JointBasics parentJoint = rootBody.getParentJoint();
   if (DEBUG) System.out.println("parentJoint = " + parentJoint);

   ReferenceFrame jointFrame = parentJoint.getFrameAfterJoint();
   if (DEBUG) System.out.println("jointFrame = " + jointFrame);

   String jointName = parentJoint.getName();
   if (DEBUG) System.out.println("jointName = " + jointName);

   ReferenceFrame jointZUpFrame;
   
   if (preserveY)
   {
     jointZUpFrame = new ZUpPreserveYReferenceFrame(ReferenceFrame.getWorldFrame(), jointFrame, jointName + "ZUp");
   }
   else
   {
     jointZUpFrame = new ZUpFrame(ReferenceFrame.getWorldFrame(), jointFrame, jointName + "ZUp");
   }
   
   CenterOfMassCalculator centerOfMassCalculator = new CenterOfMassCalculator(rootBody, jointZUpFrame);

   return centerOfMassCalculator;
  }
}