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

OneDoFJointBasics.getTau介绍

暂无

代码示例

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

@Override
public double getJointTauProcessedOutput(OneDoFJointBasics oneDoFJoint)
{
 return oneDoFJoint.getTau();
}

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

@Override
public double getJointTauRawOutput(OneDoFJointBasics oneDoFJoint)
{
 return oneDoFJoint.getTau();
}

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

public void updateJointTorques_ID_to_SCS()
{
  for (OneDegreeOfFreedomJoint scsJoint : allSCSOneDoFJoints)
  {
   OneDoFJointBasics idJoint = scsToIDJointMap.get(scsJoint);
   scsJoint.setTau(idJoint.getTau());
  }
}

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();
   double tau;
   if (jointDesiredOutputList != null)
    tau = jointDesiredOutputList.getJointDesiredOutput(revoluteJoint).getDesiredTorque();
   else
    tau = revoluteJoint.getTau();
   pinJoint.setTau(tau);
 }
}

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

public void setRobotTorquesToMatchFullRobotModelButCheckAgainstOtherRobot(FloatingRootJointRobot otherRobot, double epsilon)
{
 ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJoints = new ArrayList<OneDegreeOfFreedomJoint>();
 robot.getAllOneDegreeOfFreedomJoints(oneDegreeOfFreedomJoints);
 ArrayList<OneDegreeOfFreedomJoint> otherOneDegreeOfFreedomJoints = new ArrayList<OneDegreeOfFreedomJoint>();
 otherRobot.getAllOneDegreeOfFreedomJoints(otherOneDegreeOfFreedomJoints);
 for (int i = 0; i < oneDegreeOfFreedomJoints.size(); i++)
 {
   OneDegreeOfFreedomJoint oneDegreeOfFreedomJoint = oneDegreeOfFreedomJoints.get(i);
   OneDegreeOfFreedomJoint otherOneDegreeOfFreedomJoint = otherOneDegreeOfFreedomJoints.get(i);
   OneDoFJointBasics oneDoFJoint = fullRobotModel.getOneDoFJointByName(oneDegreeOfFreedomJoint.getName());
   double inverseDynamicsTorque = oneDoFJoint.getTau();
   oneDegreeOfFreedomJoint.setTau(inverseDynamicsTorque);
   YoDouble computedJointTorque = computedJointTorques.get(oneDoFJoint);
   computedJointTorque.set(inverseDynamicsTorque);
   double otherRobotJointTorque = otherOneDegreeOfFreedomJoint.getTauYoVariable().getDoubleValue();
   YoDouble differenceJointTorque = differenceJointTorques.get(oneDoFJoint);
   differenceJointTorque.set(otherRobotJointTorque - inverseDynamicsTorque);
   if (Math.abs(differenceJointTorque.getDoubleValue()) > epsilon)
   {
    System.err.println("Torques don't match. oneDegreeOfFreedomJoint = " + oneDegreeOfFreedomJoint.getName() + ", otherRobotJointTorque = "
       + otherRobotJointTorque + ", inverseDynamicsTorque = " + inverseDynamicsTorque);
   }
 }
}

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

double inverseDynamicsTorque = oneDoFJoint.getTau();
double simulatedRobotTorque = oneDegreeOfFreedomJoint.getTauYoVariable().getDoubleValue();

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 setRobotTorquesToMatchFullRobotModel()
{
 FloatingJointBasics rootJoint = fullRobotModel.getRootJoint();
 ReferenceFrame bodyFixedFrame = fullRobotModel.getPelvis().getBodyFixedFrame();
 Wrench rootJointWrench = new Wrench(bodyFixedFrame, bodyFixedFrame);
 rootJointWrench.setIncludingFrame(rootJoint.getJointWrench());
 rootJointWrench.changeFrame(bodyFixedFrame);
 FrameVector3D rootJointForce = new FrameVector3D(rootJointWrench.getLinearPart());
 FrameVector3D rootJointTorque = new FrameVector3D(rootJointWrench.getAngularPart());
 rootJointForce.changeFrame(ReferenceFrame.getWorldFrame());
 rootJointTorque.changeFrame(ReferenceFrame.getWorldFrame());
 computedRootJointForces.set(rootJointForce);
 computedRootJointTorques.set(rootJointTorque);
 rootJointExternalForcePoint.setForce(new Vector3D(rootJointForce));
 rootJointExternalForcePoint.setMoment(new Vector3D(rootJointTorque));
 FramePoint3D rootJointPosition = new FramePoint3D(bodyFixedFrame);
 rootJointPosition.changeFrame(ReferenceFrame.getWorldFrame());
 rootJointExternalForcePoint.setOffsetWorld(rootJointPosition);
 ArrayList<OneDegreeOfFreedomJoint> oneDegreeOfFreedomJoints = new ArrayList<OneDegreeOfFreedomJoint>();
 robot.getAllOneDegreeOfFreedomJoints(oneDegreeOfFreedomJoints);
 for (OneDegreeOfFreedomJoint oneDegreeOfFreedomJoint : oneDegreeOfFreedomJoints)
 {
   OneDoFJointBasics oneDoFJoint = fullRobotModel.getOneDoFJointByName(oneDegreeOfFreedomJoint.getName());
   double inverseDynamicsTorque = oneDoFJoint.getTau();
   oneDegreeOfFreedomJoint.setTau(inverseDynamicsTorque);
   YoDouble computedJointTorque = computedJointTorques.get(oneDoFJoint);
   computedJointTorque.set(inverseDynamicsTorque);
 }
}

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

@Override
public void update(long timestamp)
{
 fullRobot.updateFrames();
 latestTimestamp = timestamp;
 
 if(rootJoint != null)
 {
   robot.setOrientation(rootJoint.getJointPose().getOrientation());
   robot.setPositionInWorld(rootJoint.getJointPose().getPosition());
 }
 
 for (ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJointBasics> jointPair : revoluteJoints)
 {
   OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
   OneDoFJointBasics revoluteJoint = jointPair.getRight();
   pinJoint.setQ(revoluteJoint.getQ());
   pinJoint.setQd(revoluteJoint.getQd());
   pinJoint.setTau(revoluteJoint.getTau());
 }
 robot.setTime(robot.getTime() + updateDT);
 if (scs != null)
 {
   scs.tickAndUpdate();
 }
}

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-whole-body-controller

JointDesiredOutputBasics jointDesiredOutput = lowLevelOneDoFJointDesiredDataHolder.getJointDesiredOutput(joint);
jointDesiredOutput.clear();
jointDesiredOutput.setDesiredTorque(joint.getTau());

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

jointTorque = revoluteJoint.getTau();
pinJoint.setTau(jointTorque);