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

OneDoFJointBasics.getFrameAfterJoint介绍

暂无

代码示例

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

/** {@inheritDoc} */
@Override
public MovingReferenceFrame getFrameAfterLegJoint(RobotSide robotSide, LegJointName legJointName)
{
 return getLegJoint(robotSide, legJointName).getFrameAfterJoint();
}

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

@Override public MovingReferenceFrame getFrameAfterLegJoint(RobotSide robotSide, LegJointName legJointName)
{
  return legJoints.get(robotSide).get(legJointName).getFrameAfterJoint();
}

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

@Override
public MovingReferenceFrame getFrameAfterLegJoint(RobotQuadrant robotQuadrant, LegJointName legJointName)
{
 if (hasQuadrant(robotQuadrant))
   return getLegJoint(robotQuadrant, legJointName).getFrameAfterJoint();
 else
   return null;
}

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

private void updateState(double[] parameters)
{
 for (int i = 0; i < parameters.length; i++)
 {
   OneDoFJointBasics oneDoFJoint = oneDoFJoints[i];
   // apply constraints to the input parameters
   double newQ = UtilAngle.bound(parameters[i]);
   if (Double.isNaN(newQ))
    continue;
   newQ = parameters[i] = MathTools.clamp(newQ, oneDoFJoint.getJointLimitLower(), oneDoFJoint.getJointLimitUpper());
   oneDoFJoint.setQ(newQ);
   oneDoFJoint.getFrameAfterJoint().update();
 }
}

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-robotics-toolkit-test

for (OneDoFJointBasics joint : joints)
  MovingReferenceFrame frameAfterJoint = joint.getFrameAfterJoint();

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

for (OneDoFJointBasics joint : joints)
  MovingReferenceFrame frameAfterJoint = joint.getFrameAfterJoint();

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

jointFramesToFDFrames.put(frameBeforeJoint, frameBeforeJointFD);
MovingReferenceFrame frameAfterJoint = joint.getFrameAfterJoint();
NumericalMovingReferenceFrame frameAfterJointFD = new NumericalMovingReferenceFrame(frameAfterJoint, updateDT);
jointFramesToFDFrames.put(frameAfterJoint, frameAfterJointFD);

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();
 }
}

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

private void applyCorrection()
{
 for (int i = 0; i < oneDoFJoints.length; i++)
 {
   OneDoFJointBasics oneDoFJoint;
   if (useSeed)
   {
    oneDoFJoint = oneDoFJointsSeed[i];
   }
   else
   {
    oneDoFJoint = oneDoFJoints[i];
   }
   double newQ = oneDoFJoint.getQ() - correction.get(i, 0);
   newQ = MathTools.clamp(newQ, oneDoFJoint.getJointLimitLower(), oneDoFJoint.getJointLimitUpper());
   oneDoFJoint.setQ(newQ);
   oneDoFJoint.getFrameAfterJoint().update();
 }
}

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

expectedTwist.setBodyFrame(joint.getFrameAfterJoint());
expectedTwist.changeFrame(joint.getFrameAfterJoint());
joint.getFrameAfterJoint().getTwistOfFrame(actualTwist);
MecanoTestTools.assertTwistEquals(expectedTwist, actualTwist, 1.0e-5);

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

@ContinuousIntegrationTest(estimatedDuration = 1.0)
@Test(timeout = 30000)
public void testAllFramesInFullRobotModelMatchHumanoidReferenceFramesThroughHashCode()
{
 DRCRobotModel robotModelA = getRobotModel();
 FullHumanoidRobotModel fullRobotModel = robotModelA.createFullRobotModel();
 HumanoidReferenceFrames referenceFramesA = new HumanoidReferenceFrames(fullRobotModel);
 ReferenceFrameHashCodeResolver referenceFrameHashCodeResolverA = new ReferenceFrameHashCodeResolver(fullRobotModel, referenceFramesA);
 for (OneDoFJointBasics joint : fullRobotModel.getOneDoFJoints())
 {
   ReferenceFrame frameBeforeJoint = joint.getFrameBeforeJoint();
   ReferenceFrame frameAfterJoint = joint.getFrameAfterJoint();
   ReferenceFrame comLinkBefore = joint.getPredecessor().getBodyFixedFrame();
   ReferenceFrame comLinkAfter = joint.getSuccessor().getBodyFixedFrame();
   System.out.println(frameBeforeJoint.getName() + " hashCode: " + frameBeforeJoint.hashCode());
   System.out.println(frameAfterJoint.getName() + " hashCode: " + frameAfterJoint.hashCode());
   System.out.println(comLinkBefore.getName() + " hashCode: " + comLinkBefore.hashCode());
   System.out.println(comLinkAfter.getName() + " hashCode: " + comLinkAfter.hashCode());
      ReferenceFrame otherFrameBeforeJoint = referenceFrameHashCodeResolverA.getReferenceFrameFromHashCode(frameBeforeJoint.hashCode());
   ReferenceFrame otherFrameAfterJoint = referenceFrameHashCodeResolverA.getReferenceFrameFromHashCode(frameAfterJoint.hashCode());
   ReferenceFrame otherCoMlinkBefore = referenceFrameHashCodeResolverA.getReferenceFrameFromHashCode(comLinkBefore.hashCode());
   ReferenceFrame otherCoMLinkAfter = referenceFrameHashCodeResolverA.getReferenceFrameFromHashCode(comLinkAfter.hashCode());
   checkReferenceFramesMatch(frameBeforeJoint, otherFrameBeforeJoint);
   checkReferenceFramesMatch(frameAfterJoint, otherFrameAfterJoint);
   checkReferenceFramesMatch(comLinkBefore, otherCoMlinkBefore);
   checkReferenceFramesMatch(comLinkAfter, otherCoMLinkAfter);
 }
}

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

this.neckReferenceFrames.put(neckJointName, fullRobotModel.getNeckJoint(neckJointName).getFrameAfterJoint());
this.spineReferenceFrames.put(spineJointName, fullRobotModel.getSpineJoint(spineJointName).getFrameAfterJoint());
  this.armJointFrames.get(robotSide).put(armJointName, fullRobotModel.getArmJoint(robotSide, armJointName).getFrameAfterJoint());

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

leftHipPitchFrameViz.setToReferenceFrame(fullRobotModel.getLegJoint(RobotSide.LEFT, LegJointName.HIP_PITCH).getFrameAfterJoint());
  FrameVector3D footTorque = new FrameVector3D(footWrench.getAngularPart());
  ReferenceFrame jointFrame = fullRobotModel.getLegJoint(robotSide, LegJointName.KNEE_PITCH).getFrameAfterJoint();

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

ankleRoll.setQ(achievedJointAngles.get(1));
anklePitch.updateFramesRecursively();
ReferenceFrame achievedFootFrame = ankleRoll.getFrameAfterJoint();
PoseReferenceFrame desiredFootFrame = new PoseReferenceFrame("DesiredFrame", ReferenceFrame.getWorldFrame());
desiredFootFrame.setOrientationAndUpdate(desiredOrientation);

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

tempPoint.changeFrame(armJoints[1].getFrameAfterJoint());
FrameVector3D tempVector = new FrameVector3D(tempPoint);
EuclidCoreMissingTools.floorToGivenPrecision(tempVector, 1.0e-2);