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

JointBasics.getJointVelocity介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/mecano

public boolean writeComputedJointInstanteneousVelocityChange(JointBasics joint)
{
 ImpulseRecursionStep recursionStep = rigidBodyToRecursionStepMap.get(joint.getSuccessor());
 if (recursionStep == null)
   return false;
 jointVelocityMatrix.reshape(joint.getDegreesOfFreedom(), 1);
 joint.getJointVelocity(0, jointVelocityMatrix);
 CommonOps.addEquals(jointVelocityMatrix, recursionStep.delta_qd);
 return true;
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSetVelocities()
{
 Vector3D[] jointAxes = {X, Y, Z, Y, X};
 RandomFloatingRevoluteJointChain chain = new RandomFloatingRevoluteJointChain(random, jointAxes);
 JointBasics[] jointsArray = MultiBodySystemTools.collectSubtreeJoints(chain.getElevator());
 DenseMatrix64F jointVelocities = new DenseMatrix64F(MultiBodySystemTools.computeDegreesOfFreedom(jointsArray), 1);
 for(int i = 0; i < jointVelocities.getNumRows() * jointVelocities.getNumCols(); i++)
 {
   jointVelocities.set(i, random.nextDouble());
 }
 MultiBodySystemTools.insertJointsState(jointsArray, JointStateType.VELOCITY, jointVelocities);
 DenseMatrix64F sixDoFVeloc = new DenseMatrix64F(6, 1);
 jointsArray[0].getJointVelocity(0, sixDoFVeloc);
 for(int i = 0; i < 6; i++)
 {
   assertEquals("Should be equal velocitiess", jointVelocities.get(i), sixDoFVeloc.get(i), epsilon);
 }
 OneDoFJointBasics joint;
 for(int i = 6; i < jointVelocities.getNumRows() * jointVelocities.getNumCols(); i++)
 {
   joint = (OneDoFJointBasics)jointsArray[i - 5]; //1 - 6
   assertEquals("Should be equal velocities", jointVelocities.get(i), joint.getQd(), epsilon);
 }
}