us.ihmc.mecano.multiBodySystem.interfaces.JointBasics.getPredecessor()方法的使用及代码示例

x33g5p2x  于2022-01-22 转载在 其他  
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本文整理了Java中us.ihmc.mecano.multiBodySystem.interfaces.JointBasics.getPredecessor()方法的一些代码示例,展示了JointBasics.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。JointBasics.getPredecessor()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:getPredecessor

JointBasics.getPredecessor介绍

暂无

代码示例

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

/**
* Returns the base {@code RigidBody} of this Jacobian. The base is the predecessor of the first
* joint that this Jacobian considers.
* 
* @return the base of this Jacobian.
*/
public RigidBodyBasics getBase()
{
 return joints[0].getPredecessor();
}

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

private static void checkJointOrder(JointBasics[] joints)
{
 for (int i = 1; i < joints.length; i++)
 {
   JointBasics joint = joints[i];
   JointBasics previousJoint = joints[i - 1];
   if (MultiBodySystemTools.isAncestor(previousJoint.getPredecessor(), joint.getPredecessor()))
    throw new RuntimeException("joints must be in order from ancestor to descendant");
 }
}

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

@Override
public void getOneDoFJointsFromRootToHere(OneDoFJointBasics oneDoFJointAtEndOfChain, List<OneDoFJointBasics> oneDoFJointsToPack)
{
 oneDoFJointsToPack.clear();
 JointBasics parent = oneDoFJointAtEndOfChain;
 while (parent != rootJoint)
 {
   if (parent instanceof OneDoFJointBasics)
   {
    oneDoFJointsToPack.add((OneDoFJointBasics) parent);
   }
   parent = parent.getPredecessor().getParentJoint();
 }
 Collections.reverse(oneDoFJointsToPack);
}

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

@Override public void getOneDoFJointsFromRootToHere(OneDoFJointBasics oneDoFJointAtEndOfChain, List<OneDoFJointBasics> oneDoFJointsToPack)
{
  oneDoFJointsToPack.clear();
  JointBasics parent = oneDoFJointAtEndOfChain;
  while (parent != rootJoint)
  {
   if (parent instanceof OneDoFJointBasics)
   {
     oneDoFJointsToPack.add((OneDoFJointBasics) parent);
   }
   parent = parent.getPredecessor().getParentJoint();
  }
  Collections.reverse(oneDoFJointsToPack);
}

代码示例来源:origin: us.ihmc/mecano

/**
* Retrieves and gets the root body of the multi-body system the given {@code body} belongs to.
*
* @param body an arbitrary body that belongs to the multi-body system that this method is to find
*           the root.
* @return the root body.
*/
public static RigidBodyBasics getRootBody(RigidBodyBasics body)
{
 RigidBodyBasics root = body;
 while (root.getParentJoint() != null)
 {
   root = root.getParentJoint().getPredecessor();
 }
 return root;
}

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

/**
  * Will return the {@code numberOfBodies}'eth parent of the provided {@code startBody}. E.g. if
  * {@code numberOfBodies == 1} this will return the parent of the {@code startBody} and so on.
  * 
  * @throws RuntimeException if the body chain is not long enough to reach the desired parent.
  * @param startBody the body to start at.
  * @param numberOfBodies the amount of steps to go up the body chain.
  * @return the {@link RigidBodyBasics} that is {@code numberOfBodies} higher up the rigid body chain
  *         then the {@code startBody}.
  */
  public static RigidBodyBasics goUpBodyChain(RigidBodyBasics startBody, int numberOfBodies)
  {
   if (numberOfBodies == 0)
   {
     return startBody;
   }
   JointBasics parentJoint = startBody.getParentJoint();
   if (parentJoint == null)
   {
     throw new RuntimeException("Reached root body. Can not move up the chain any further.");
   }
   return goUpBodyChain(parentJoint.getPredecessor(), numberOfBodies - 1);
  }
}

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

JointBasics parentJoint = currentBody.getParentJoint();
jointPathToPack[j] = parentJoint;
currentBody = parentJoint.getPredecessor();
i++;

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-robotics-toolkit

JointBasics parentJoint = joint.getPredecessor().getParentJoint();
if (parentJoint == null)

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

if (currentSCSJoint.getName().equals(idJoint.getPredecessor().getParentJoint().getName()))

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

RigidBodyBasics predecessor = parentJoint.getPredecessor();
TwistReadOnly twistOfPredecessor = computeOrGetTwistOfBody(predecessor);
twist = assignAndGetEmptyTwist(body);

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

String secondAnkleName = fullRobotModel.getFoot(robotSide).getParentJoint().getPredecessor().getParentJoint().getName();
if (simulatedRobot.getOneDegreeOfFreedomJoint(secondAnkleName) instanceof PinJoint)

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

String secondAnkleName = fullRobotModel.getFoot(robotSide).getParentJoint().getPredecessor().getParentJoint().getName();
if (simulatedRobot.getOneDegreeOfFreedomJoint(secondAnkleName) instanceof PinJoint)

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

String secondAnkleName = fullRobotModel.getFoot(robotSide).getParentJoint().getPredecessor().getParentJoint().getName();
simulatedRobot.getOneDegreeOfFreedomJoint(firstAnkleName).setDamping(ankleDamping);
simulatedRobot.getOneDegreeOfFreedomJoint(secondAnkleName).setDamping(ankleDamping);

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

String secondAnkleName = fullRobotModel.getFoot(robotSide).getParentJoint().getPredecessor().getParentJoint().getName();
simulatedRobot.getOneDegreeOfFreedomJoint(firstAnkleName).setDamping(ankleDamping);
simulatedRobot.getOneDegreeOfFreedomJoint(secondAnkleName).setDamping(ankleDamping);

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