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

x33g5p2x  于2022-01-26 转载在 其他  
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本文整理了Java中us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics.setQd()方法的一些代码示例，展示了OneDoFJointBasics.setQd()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.setQd()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：setQd

OneDoFJointBasics.setQd介绍

[英]Sets the current velocity for this joint.
[中]设置此关节的当前速度。

代码示例

代码示例来源：origin: us.ihmc/mecano

/** {@inheritDoc} */
@Override
default void setJointTwistToZero()
{
 setQd(0.0);
}

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

@Before
public void setUp()
{
 joint.setQ(0.0);
 joint.setQd(0.0);
 joint.setQdd(0.0);
 trajectoryTimeProvider = new ConstantDoubleProvider(timeRequired);
}

代码示例来源：origin: us.ihmc/mecano

/**
* Sets this joint velocity from the other joint.
* 
* @param other the other to get the velocity from. Not modified.
*/
default void setJointTwist(OneDoFJointReadOnly other)
{
 setQd(other.getQd());
}

代码示例来源：origin: us.ihmc/mecano

/**
* Generates a random state and update the given {@code joint} with it.
* 
* @param random the random generator to use.
* @param stateToRandomize the joint state that is to be randomized.
* @param min the minimum value for the generated random value.
* @param max the maximum value for the generated random value.
* @param joint the joints to set the state of. Modified.
*/
public static void nextState(Random random, JointStateType stateToRandomize, double min, double max, OneDoFJointBasics joint)
{
 switch (stateToRandomize)
 {
 case CONFIGURATION:
   joint.setQ(EuclidCoreRandomTools.nextDouble(random, min, max));
   break;
 case VELOCITY:
   joint.setQd(EuclidCoreRandomTools.nextDouble(random, min, max));
   break;
 case ACCELERATION:
   joint.setQdd(EuclidCoreRandomTools.nextDouble(random, min, max));
   break;
 case EFFORT:
   joint.setTau(EuclidCoreRandomTools.nextDouble(random, min, max));
   break;
 default:
   throw new RuntimeException("Unhandled state selection: " + stateToRandomize);
 }
}

代码示例来源：origin: us.ihmc/mecano

/** {@inheritDoc} */
@Override
default int setJointVelocity(int rowStart, DenseMatrix64F matrix)
{
 setQd(matrix.get(rowStart, 0));
 return rowStart + getDegreesOfFreedom();
}

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

private void readAndUpdateOneDoFJointPositionsVelocitiesAndAccelerations()
{
 for (int i = 0; i < revoluteJoints.size(); i++)
 {
   ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJointBasics> jointPair = revoluteJoints.get(i);
   OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
   OneDoFJointBasics revoluteJoint = jointPair.getRight();
   if (pinJoint == null) continue;
   revoluteJoint.setQ(pinJoint.getQYoVariable().getDoubleValue());
   revoluteJoint.setQd(pinJoint.getQDYoVariable().getDoubleValue());
   revoluteJoint.setQdd(pinJoint.getQDDYoVariable().getDoubleValue());
   revoluteJoint.setTau(pinJoint.getTau());
 }
}

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/simulation-construction-set-tools

public void updateJointVelocities_SCS_to_ID()
{
  if (scsFloatingJoint != null)
  {
   ReferenceFrame elevatorFrame = idFloatingJoint.getFrameBeforeJoint();
   ReferenceFrame rootBodyFrame = idFloatingJoint.getFrameAfterJoint();
   scsFloatingJoint.getVelocity(linearVelocity);
   linearVelocity.changeFrame(rootBodyFrame);
   scsFloatingJoint.getAngularVelocity(angularVelocity, rootBodyFrame);
   rootJointTwist.setIncludingFrame(rootBodyFrame, elevatorFrame, rootBodyFrame, angularVelocity, linearVelocity);
   idFloatingJoint.setJointTwist(rootJointTwist);
  }
  for (OneDegreeOfFreedomJoint scsJoint : allSCSOneDoFJoints)
  {
   OneDoFJointBasics idJoint = scsToIDJointMap.get(scsJoint);
   idJoint.setQd(scsJoint.getQDYoVariable().getDoubleValue());
  }
}

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

public void setFullRobotModelStateToMatchRobot()
{
 robot.update();
 FloatingJointBasics sixDoFJoint = fullRobotModel.getRootJoint();
 FloatingJoint floatingJoint = robot.getRootJoint();
 setFullRobotModelRootJointPositionAndOrientationToMatchRobot(sixDoFJoint, floatingJoint);
 fullRobotModel.updateFrames();
 setFullRobotModelRootJointVelocityAndAngularVelocityToMatchRobot(sixDoFJoint, floatingJoint);
 ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJoints = new ArrayList<OneDegreeOfFreedomJoint>();
 robot.getAllOneDegreeOfFreedomJoints(oneDegreeOfFreedomJoints);
 for (OneDegreeOfFreedomJoint oneDegreeOfFreedomJoint : oneDegreeOfFreedomJoints)
 {
   OneDoFJointBasics oneDoFJoint = fullRobotModel.getOneDoFJointByName(oneDegreeOfFreedomJoint.getName());
   oneDoFJoint.setQ(oneDegreeOfFreedomJoint.getQYoVariable().getDoubleValue());
   oneDoFJoint.setQd(oneDegreeOfFreedomJoint.getQDYoVariable().getDoubleValue());
 }
}

代码示例来源：origin: us.ihmc/mecano

break;
case VELOCITY:
  joint.setQd(EuclidCoreRandomTools.nextDouble(random, joint.getVelocityLimitLower(), joint.getVelocityLimitUpper()));
  break;
case EFFORT:

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

private void getOneDoFJointStateFromSCS()
{
  for (OneDoFJointBasics joint : allOneDoFJoints)
  {
   PinJoint scsJoint = (PinJoint) robot.getJoint(joint.getName());
   joint.setQ(scsJoint.getQ());
   joint.setQd(scsJoint.getQD());
   double tau = scsJoint.getTau();
   if (scsJoint.tauDamping != null)
     tau += scsJoint.tauDamping.getValue();
   if (scsJoint.tauJointLimit != null)
     tau += scsJoint.tauJointLimit.getValue();
   if (scsJoint.tauVelocityLimit != null)
     tau += scsJoint.tauVelocityLimit.getValue();
   joint.setTau(tau);
  }
}

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-test

public void setFullRobotModelStateRandomly(Random random, double maxJointVelocity, double maxRootJointLinearAndAngularVelocity)
{
 FloatingJointBasics rootJoint = fullRobotModel.getRootJoint();
 ReferenceFrame elevatorFrame = rootJoint.getFrameBeforeJoint();
 ReferenceFrame bodyFrame = rootJoint.getFrameAfterJoint();
 Twist bodyTwist = new Twist(bodyFrame, elevatorFrame, bodyFrame, RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity),
    RandomGeometry.nextVector3D(random, maxRootJointLinearAndAngularVelocity));
 rootJoint.setJointTwist(bodyTwist);
 rootJoint.setJointPosition(RandomGeometry.nextVector3D(random));
 double yaw = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 double pitch = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 double roll = RandomNumbers.nextDouble(random, Math.PI / 20.0);
 rootJoint.getJointPose().setOrientationYawPitchRoll(yaw, pitch, roll);
 ArrayList<OneDoFJointBasics> oneDoFJoints = new ArrayList<OneDoFJointBasics>();
 fullRobotModel.getOneDoFJoints(oneDoFJoints);
 for (OneDoFJointBasics oneDoFJoint : oneDoFJoints)
 {
   double lowerLimit = oneDoFJoint.getJointLimitLower();
   double upperLimit = oneDoFJoint.getJointLimitUpper();
   double delta = upperLimit - lowerLimit;
   lowerLimit = lowerLimit + 0.05 * delta;
   upperLimit = upperLimit - 0.05 * delta;
   oneDoFJoint.setQ(RandomNumbers.nextDouble(random, lowerLimit, upperLimit));
   oneDoFJoint.setQd(RandomNumbers.nextDouble(random, maxJointVelocity));
 }
}

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

joint.setQd(0.0);

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

joint.setQd(data.getDesiredVelocity());

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

@Override
public void receivedPacket(RobotConfigurationData packet)
{
 latestRobotConfigurationData = packet;
 FloatingJointBasics rootJoint = fullRobotModel.getRootJoint();
 TFloatArrayList newJointAngles = packet.getJointAngles();
 TFloatArrayList newJointVelocities = packet.getJointAngles();
 TFloatArrayList newJointTorques = packet.getJointTorques();
 OneDoFJointBasics[] oneDoFJoints = fullRobotModel.getOneDoFJoints();
 for (int i = 0; i < newJointAngles.size(); i++)
 {
   oneDoFJoints[i].setQ(newJointAngles.get(i));
   oneDoFJoints[i].setQd(newJointVelocities.get(i));
   oneDoFJoints[i].setTau(newJointTorques.get(i));
 }
 pelvisTranslationFromRobotConfigurationData.set(packet.getRootTranslation());
 pelvisOrientationFromRobotConfigurationData.set(packet.getRootOrientation());
 rootJoint.getJointPose().setPosition(pelvisTranslationFromRobotConfigurationData.getX(), pelvisTranslationFromRobotConfigurationData.getY(), pelvisTranslationFromRobotConfigurationData.getZ());
 rootJoint.getJointPose().getOrientation().setQuaternion(pelvisOrientationFromRobotConfigurationData.getX(), pelvisOrientationFromRobotConfigurationData.getY(), pelvisOrientationFromRobotConfigurationData.getZ(), pelvisOrientationFromRobotConfigurationData.getS());
 
 computeDriftTransform();
 rootJoint.getPredecessor().updateFramesRecursively();
 yoVariableServer.update(System.currentTimeMillis());
}

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());

   double pdOutput = pdController.compute(q.getDoubleValue(), q_d.getDoubleValue(), qd.getDoubleValue(), qd_d.getDoubleValue());
   jointCommand_pd.set(pdOutput);
   tau_d.set(valkyrieRosControlSliderBoard.masterScaleFactor.getDoubleValue() * (jointCommand_pd.getDoubleValue() + jointCommand_function.getDoubleValue()) + tau_offset
      .getDoubleValue());

   handle.setDesiredEffort(tau_d.getDoubleValue());
  }
}

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

oneDoFJoints[i].setQd(0.0);

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

double jointVelocity = pinJoint.getQDYoVariable().getDoubleValue();
revoluteJoint.setQ(jointPosition);
revoluteJoint.setQd(jointVelocity);

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

joint.setQd(velocityDecay * qdNew);

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OneDoFJointBasics

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