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

OneDoFJointBasics.getQ介绍

暂无

代码示例

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

private void checkAndSetIfPoseIsBest(double spatialErrorNorm)
{
 if (spatialErrorNorm < currentBest)
 {
   currentBest = spatialErrorNorm;
   for (int i = 0; i < bestJointAngles.length; i++)
   {
    bestJointAngles[i] = oneDoFJoints[i].getQ();
   }
 }
}

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

public void get(double[] buffer, int offset)
{
 buffer[offset + 0] = joint.getQ();
 buffer[offset + 1] = joint.getQd();
}

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

public static ChecksumUpdater newJointChecksumUpdater(GenericCRC32 checksum, OneDoFJointBasics joint)
{
 return () -> {
   checksum.update(joint.getQ());
   checksum.update(joint.getQd());
   checksum.update(joint.getQdd());
 };
}

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

@Override
public void initialize()
{
 initialize(joint.getQ(), joint.getQd());
}

代码示例来源：origin: us.ihmc/mecano

/**
* Integrates the given {@code joint}'s acceleration and velocity to update its velocity and
* configuration.
* 
* @param joint the joint to integrate the state of. The joint configuration is modified.
*/
public void doubleIntegrateFromAcceleration(OneDoFJointBasics joint)
{
 double initialQ = joint.getQ();
 double initialQd = joint.getQd();
 double qdd = joint.getQdd();
 joint.setQ(doubleIntegratePosition(qdd, initialQd, initialQ));
 joint.setQd(integrateVelocity(qdd, initialQd));
}

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

@Override
public double getJointPositionRawOutput(OneDoFJointBasics oneDoFJoint)
{
 return oneDoFJoint.getQ();
}

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

@Override
public void initialize()
{
 initialize(joint.getQ(), joint.getQd());
}

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

@Override
public void write()
{
 for (int i = 0; i < revoluteJoints.size(); i++)
 {
   ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJointBasics> jointPair = revoluteJoints.get(i);
   OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
   OneDoFJointBasics revoluteJoint = jointPair.getRight();
   pinJoint.setQ(revoluteJoint.getQ());
   pinJoint.setQd(revoluteJoint.getQd());
   pinJoint.setQdd(revoluteJoint.getQdd());
 }
}

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

@Override
public double getJointPositionProcessedOutput(OneDoFJointBasics oneDoFJoint)
{
 return oneDoFJoint.getQ();
}

代码示例来源：origin: us.ihmc/mecano

/**
* Integrates the given {@code joint}'s velocity to update its configuration.
* 
* @param joint the joint to integrate the state of. The joint configuration is modified.
*/
public void integrateFromVelocity(OneDoFJointBasics joint)
{
 double initialQ = joint.getQ();
 double qd = joint.getQd();
 joint.setQ(integratePosition(qd, initialQ));
}

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

public double getValue()
{
 return joint.getQ();
}

代码示例来源：origin: us.ihmc/valkyrie

@Override
  public void update()
  {
   joint.setQ(handle.getPosition());
   joint.setQd(handle.getVelocity());
   bl_qd.update();
   joint.setTau(handle.getEffort());

   q.set(joint.getQ());
   qd.set(joint.getQd());
   tau.set(joint.getTau());

   positionStepSizeLimiter.updateOutput(q.getDoubleValue(), q_d.getDoubleValue());
   handle.setDesiredPosition(positionStepSizeLimiter.getDoubleValue());
  }
}

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

public PlaybackPose(OneDoFJointBasics[] joints, double playBackDelayBeforePose, double playbackDuration)
{
 playbackPoseMap = new LinkedHashMap<OneDoFJointBasics, Double>();
 for (OneDoFJointBasics oneDoFJoint : joints)
 {
   playbackPoseMap.put(oneDoFJoint, oneDoFJoint.getQ());
 }
 this.playBackDelayBeforePose = playBackDelayBeforePose;
 this.playBackDuration = playbackDuration;
}

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

private void getJointAngles(DenseMatrix64F angles)
{
 for (int i = 0; i < angles.getNumRows(); i++)
 {
   angles.set(i, 0, oneDoFJoints[i].getQ());
 }
}

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

private void getJointAngles(DenseMatrix64F angles)
{
 for (int i = 0; i < angles.getNumRows(); i++)
 {
   angles.set(i, 0, oneDoFJoints[i].getQ());
 }
}

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

@Override
public void initialize()
{
 for (int i = 0; i < controlledJoints.size(); i++)
 {
   OneDoFJointBasics state = controlledJoints.first(i);
   jointTrajectories.get(state).initialize(state.getQ(), 0.0);
 }
 startTime.set(yoTime.getDoubleValue());
 hasBeenInitialized = true;
}

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

public void updateJointPositions_ID_to_SCS()
{
  if (scsFloatingJoint != null)
  {
   idFloatingJoint.getFrameAfterJoint().getTransformToDesiredFrame(transformToWorld, ReferenceFrame.getWorldFrame());
   scsFloatingJoint.setRotationAndTranslation(transformToWorld);
  }
  for (OneDegreeOfFreedomJoint scsJoint : allSCSOneDoFJoints)
  {
   OneDoFJointBasics idJoint = scsToIDJointMap.get(scsJoint);
   scsJoint.setQ(idJoint.getQ());
  }
}

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

private void applyJointAngleCorrection()
{
 for (int i = 0; i < oneDoFJoints.length; i++)
 {
   OneDoFJointBasics oneDoFJoint = oneDoFJoints[i];
   double newQ = oneDoFJoint.getQ() - jointAnglesCorrection.get(i, 0);
   if (limitJointAngles) 
    newQ = Math.min(oneDoFJoint.getJointLimitUpper(), Math.max(newQ, oneDoFJoint.getJointLimitLower()));
   oneDoFJoint.setQ(newQ);
   oneDoFJoint.getFrameAfterJoint().update();
 }
 
 if (stepListener != null)
 {
   stepListener.didAnInverseKinemticsStep(errorScalar);
 }
}

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

public void updateRobotConfigurationBasedOnFullRobotModel()
  {
   for (int i = 0; i < revoluteJoints.size(); i++)
   {
     ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJointBasics> jointPair = revoluteJoints.get(i);
     OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
     OneDoFJointBasics revoluteJoint = jointPair.getRight();

     pinJoint.setQ(revoluteJoint.getQ());
   }

   FloatingJoint floatingJoint = rootJointPair.getLeft();
   FloatingJointBasics sixDoFJoint = rootJointPair.getRight();

   RigidBodyTransform transform = new RigidBodyTransform();
   sixDoFJoint.getJointConfiguration(transform);
   floatingJoint.setRotationAndTranslation(transform);
  }
}

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

private void updateJointAngles()
{
 for (int i = 0; i < oneDoFJoints.length; i++)
 {
   double newQ = oneDoFJoints[i].getQ() + correction.get(i, 0);
   newQ = MathTools.clamp(newQ, oneDoFJoints[i].getJointLimitLower(), oneDoFJoints[i].getJointLimitUpper());
   oneDoFJoints[i].setQ(newQ);
   oneDoFJoints[i].getFrameAfterJoint().update();
 }
}