us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics.setTau()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.setTau()方法的一些代码示例，展示了OneDoFJointBasics.setTau()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.setTau()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：setTau

OneDoFJointBasics.setTau介绍

[英]Sets the current force/torque for this joint.
[中]设置此关节的当前力/扭矩。

代码示例

代码示例来源：origin: us.ihmc/mecano

/** {@inheritDoc} */
@Override
default void setJointTauToZero()
{
 setTau(0.0);
}

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

private void zeroAllTorques()
{
 for (int i = 0; i < oneDoFJoints.size(); i++)
 {
   oneDoFJoints.get(i).setTau(0);
 }
}

代码示例来源：origin: us.ihmc/mecano

/**
* Sets this joint force/torque from the other joint.
* 
* @param other the other to get the force/torque from. Not modified.
*/
default void setJointWrench(OneDoFJointReadOnly other)
{
 setTau(other.getTau());
}

代码示例来源：origin: us.ihmc/mecano

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

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

private void updatePDController(OneDoFJointBasics oneDoFJoint, double timeInCurrentState)
{
 PDController pdController = pdControllers.get(oneDoFJoint);
 double desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
 double desiredVelocity = 0.0;
 double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
 DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
 if (diagnosticsWhenHangingHelper != null)
 {
   tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, estimateTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
   if (hasReachedMaximumTorqueOffset.getBooleanValue()
      && Math.abs(diagnosticsWhenHangingHelper.getTorqueOffset()) == maximumTorqueOffset.getDoubleValue())
   {
    PrintTools.warn(this, "Reached maximum torque for at least one joint.");
    hasReachedMaximumTorqueOffset.set(true);
   }
 }
 double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
 oneDoFJoint.setTau(tau + ditherTorque);
}

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

private void updatePDController(OneDoFJointBasics oneDoFJoint, double timeInCurrentState)
{
 PDController pdController = pdControllers.get(oneDoFJoint);
 YoMinimumJerkTrajectory transitionSpline = transitionSplines.get(oneDoFJoint);
 double desiredPosition = transitionSpline.getPosition();
 double desiredVelocity = transitionSpline.getVelocity();
 // Setting the desired positions via SCS ui.
 if (manualMode.getBooleanValue())
 {
   desiredPosition = desiredPositions.get(oneDoFJoint).getDoubleValue();
   desiredVelocity = 0.0;
 }
 else
 {
   desiredPositions.get(oneDoFJoint).set(desiredPosition);
 }
 desiredVelocities.get(oneDoFJoint).set(desiredVelocity);
 double tau = pdController.compute(oneDoFJoint.getQ(), desiredPosition, oneDoFJoint.getQd(), desiredVelocity);
 tau = tau * diagnosticsPDMasterGain.getDoubleValue();
 DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = helpers.get(oneDoFJoint);
 if (diagnosticsWhenHangingHelper != null)
 {
   tau = diagnosticsWhenHangingHelper.getTorqueToApply(tau, adaptTorqueOffset.getBooleanValue(), maximumTorqueOffset.getDoubleValue());
 }
 double ditherTorque = ditherAmplitude.getDoubleValue() * Math.sin(2.0 * Math.PI * ditherFrequency.getDoubleValue() * timeInCurrentState);
 oneDoFJoint.setTau(tau + ditherTorque);
}

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

/**
* 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/ihmc-common-walking-control-modules-test

double tau = jointTorques.get(i, 0);
yoJointTorques.get(joint).set(tau);
joint.setTau(tau);

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

double tau = jointTorques.get(i, 0);
yoJointTorques.get(joint).set(tau);
joint.setTau(tau);

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/mecano

break;
case EFFORT:
  joint.setTau(EuclidCoreRandomTools.nextDouble(random, joint.getEffortLimitLower(), joint.getEffortLimitUpper()));
  break;
default:

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

@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());
  }
}

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OneDoFJointBasics

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