us.ihmc.robotics.robotSide.RobotSide.values()方法的使用及代码示例

x33g5p2x  于2022-01-29 转载在 其他  
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本文整理了Java中us.ihmc.robotics.robotSide.RobotSide.values方法的一些代码示例，展示了RobotSide.values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。RobotSide.values方法的具体详情如下：
包路径：us.ihmc.robotics.robotSide.RobotSide
类名称：RobotSide
方法名：values

RobotSide.values介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/acsell

@Override
public Set<String> getLastSimulatedJoints()
{
 HashSet<String> lastSimulatedJoints = new HashSet<String>();
 // don't simulate children of ll_ankle_pulley, lr_ankle_pulley, rr_ankle_pulley and rl_ankle_pulley
 for (RobotSide robotSide : RobotSide.values())
 {
   String prefix = robotSide.getSideNameFirstLetter().toLowerCase();
   lastSimulatedJoints.add(prefix + "l_ankle_pulley");
   lastSimulatedJoints.add(prefix + "r_ankle_pulley");
 }
 return lastSimulatedJoints;
}

代码示例来源：origin: us.ihmc/acsell

@Override
public Set<String> getLastSimulatedJoints()
{
 HashSet<String> lastSimulatedJoints = new HashSet<String>();
 // don't simulate children of ll_ankle_pulley, lr_ankle_pulley, rr_ankle_pulley and rl_ankle_pulley
 for (RobotSide robotSide : RobotSide.values())
 {
   String prefix = robotSide.getSideNameFirstLetter().toLowerCase();
   lastSimulatedJoints.add(prefix + "l_ankle_pulley");
   lastSimulatedJoints.add(prefix + "r_ankle_pulley");
 }
 return lastSimulatedJoints;
}

代码示例来源：origin: us.ihmc/acsell

public BonoSensorInformation()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   String robotSideLowerCaseFirstLetter = robotSide.getSideNameFirstLetter().toLowerCase();
   feetForceSensorNames.put(robotSide, robotSideLowerCaseFirstLetter + "_leg_lax");
 }
 forceSensorNames= new String[]{feetForceSensorNames.get(RobotSide.LEFT), feetForceSensorNames.get(RobotSide.RIGHT)};
}

代码示例来源：origin: us.ihmc/acsell

public WandererSensorInformation()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   String robotSideLowerCaseFirstLetter = robotSide.getSideNameFirstLetter().toLowerCase();
   feetForceSensorNames.put(robotSide, robotSideLowerCaseFirstLetter + "_leg_lax");
 }
 forceSensorNames= new String[]{feetForceSensorNames.get(RobotSide.LEFT), feetForceSensorNames.get(RobotSide.RIGHT)};
}

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

@Override
public void onBehaviorAborted()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   publisher.publish(HumanoidMessageTools.createHandDesiredConfigurationMessage(robotSide, HandConfiguration.STOP));
 }
 isAborted.set(true);
}

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

@Override
public void onBehaviorPaused()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   publisher.publish(HumanoidMessageTools.createHandDesiredConfigurationMessage(robotSide, HandConfiguration.STOP));
 }
 isPaused.set(true);
 if (DEBUG)
   PrintTools.debug(this, "Pausing Behavior");
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

private void sequenceCuteWave()
{
 if (activeSideForHandControl.getEnumValue() == null)
 {
   for (RobotSide robotSide : RobotSide.values())
   {
    cuteWave(robotSide);
   }
 }
 else
 {
   cuteWave(activeSideForHandControl.getEnumValue());
 }
}

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

private void sequenceCuteWave()
{
 if (activeSideForHandControl.getEnumValue() == null)
 {
   for (RobotSide robotSide : RobotSide.values())
   {
    cuteWave(robotSide);
   }
 }
 else
 {
   cuteWave(activeSideForHandControl.getEnumValue());
 }
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

@Override
public void doControl()
{
 super.doControl();
 for (RobotSide robotSide : RobotSide.values())
 {
   if (footTouchedDown(robotSide))
   {
    startSlipping(robotSide);
   }
   else
   {
    stopSlipping(robotSide);
   }
 }
}

代码示例来源：origin: us.ihmc/acsell

public BonoWalkingControllerParameters(DRCRobotJointMap jointMap, boolean runningOnRealRobot)
{
 this.jointMap = jointMap;
 this.runningOnRealRobot = runningOnRealRobot;
 this.toeOffParameters = new BonoToeOffParameters();
 this.swingTrajectoryParameters = new BonoSwingTrajectoryParameters(runningOnRealRobot);
 this.steppingParameters = new BonoSteppingParameters(runningOnRealRobot);
 for (RobotSide robotSide : RobotSide.values())
 {
   handPosesWithRespectToChestFrame.put(robotSide, new RigidBodyTransform());
 }
}

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

@Override
public void updateFrames()
{
  centerOfMassFrame.update();
  for (RobotSide robotSide : RobotSide.values())
  {
   footReferenceFrames.get(robotSide).update();
   soleReferenceFrames.get(robotSide).update();
  }
}

代码示例来源：origin: us.ihmc/thor

private void createTransforms()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   Vector3f centerOfHandToWristTranslation = new Vector3f();
   float[] angles = new float[3];
   centerOfHandToWristTranslation = new Vector3f(0f, robotSide.negateIfLeftSide(0.015f), -0.06f);
   angles[0] = (float) robotSide.negateIfLeftSide(Math.toRadians(90));
   angles[1] = 0.0f;
   angles[2] = (float) robotSide.negateIfLeftSide(Math.toRadians(90));
   //
   Quaternion centerOfHandToWristRotation = new Quaternion(angles);
   offsetHandFromWrist.set(robotSide, new Transform(centerOfHandToWristTranslation, centerOfHandToWristRotation));
 }
}

代码示例来源：origin: us.ihmc/valkyrie

private void createTransforms()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   Vector3f centerOfHandToWristTranslation = new Vector3f();
   float[] angles = new float[3];
   centerOfHandToWristTranslation = new Vector3f(0f, robotSide.negateIfLeftSide(0.015f), -0.06f);
   angles[0] = (float) robotSide.negateIfLeftSide(Math.toRadians(90));
   angles[1] = 0.0f;
   angles[2] = (float) robotSide.negateIfLeftSide(Math.toRadians(90));
   //
   Quaternion centerOfHandToWristRotation = new Quaternion(angles);
   offsetHandFromWrist.set(robotSide, new Transform(centerOfHandToWristTranslation, centerOfHandToWristRotation));
 }
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

@Override
public void onBehaviorAborted()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   HandDesiredConfigurationMessage stopMessage = new HandDesiredConfigurationMessage(robotSide, HandConfiguration.STOP);
   stopMessage.setDestination(PacketDestination.UI);
   sendPacketToController(stopMessage);
   sendPacket(stopMessage);
 }
 isAborted.set(true);
}

代码示例来源：origin: us.ihmc/acsell

public WandererWalkingControllerParameters(DRCRobotJointMap jointMap, boolean runningOnRealRobot)
{
 this.jointMap = jointMap;
 this.runningOnRealRobot = runningOnRealRobot;
 this.toeOffParameters = new WandererToeOffParameters();
 this.swingTrajectoryParameters = new WandererSwingTrajectoryParameters(runningOnRealRobot);
 this.steppingParameters = new WandererSteppingParameters(runningOnRealRobot);
 for (RobotSide robotSide : RobotSide.values())
 {
   handPosesWithRespectToChestFrame.put(robotSide, new RigidBodyTransform());
 }
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

@Override
public void onBehaviorPaused()
{
 for (RobotSide robotSide : RobotSide.values())
 {
   HandDesiredConfigurationMessage stopMessage = new HandDesiredConfigurationMessage(robotSide, HandConfiguration.STOP);
   stopMessage.setDestination(PacketDestination.UI);
   sendPacketToController(stopMessage);
   sendPacket(stopMessage);
 }
 isPaused.set(true);
 if (DEBUG)
   PrintTools.debug(this, "Pausing Behavior");
}

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

private void submitArmGoHomeCommand(boolean parallelize)
{
 for (RobotSide robotSide : RobotSide.values())
 {
   GoHomeMessage goHomeMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.ARM, robotSide, trajectoryTime.getDoubleValue());
   GoHomeBehavior armGoHomeBehavior = armGoHomeBehaviors.get(robotSide);
   if (parallelize)
    pipeLine.submitTaskForPallelPipesStage(armGoHomeBehavior, new GoHomeTask(goHomeMessage, armGoHomeBehavior));
   else
    pipeLine.submitSingleTaskStage(new GoHomeTask(goHomeMessage, armGoHomeBehavior));
 }
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

private void submitArmGoHomeCommand(boolean parallelize)
{
 for (RobotSide robotSide : RobotSide.values())
 {
   GoHomeMessage goHomeMessage = new GoHomeMessage(BodyPart.ARM, robotSide, trajectoryTime.getDoubleValue());
   GoHomeBehavior armGoHomeBehavior = armGoHomeBehaviors.get(robotSide);
   if (parallelize)
    pipeLine.submitTaskForPallelPipesStage(armGoHomeBehavior, new GoHomeTask(goHomeMessage, armGoHomeBehavior));
   else
    pipeLine.submitSingleTaskStage(new GoHomeTask(goHomeMessage, armGoHomeBehavior));
 }
}

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

private void setupCurrentFootPoseVisualization()
{
 currentFootLocations = new SideDependentList<>();
 for (RobotSide side : RobotSide.values())
 {
   Graphics3DObject footstepGraphic = new Graphics3DObject();
   footstepGraphic.addExtrudedPolygon(contactPointsInFootFrame, footstepHeight, side == RobotSide.LEFT ? leftFootstepColor : rightFootstepColor);
   YoFramePoseUsingYawPitchRoll footPose = new YoFramePoseUsingYawPitchRoll(side.getCamelCaseName() + "FootPose", worldFrame, registry);
   currentFootLocations.put(side, footPose);
   graphicsListRegistry.registerYoGraphic("currentFootPose", new YoGraphicShape(side.getCamelCaseName() + "FootViz", footstepGraphic, footPose, 1.0));
 }
}

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

@Override
public void updateAllGroundContactPointVelocities()
{
 RotationMatrix hingeRotation = new RotationMatrix();
 hingeRotation.setToYawMatrix(getHingeYaw());
 RigidBodyTransform newDoorPose = new RigidBodyTransform(originalDoorPose);
 newDoorPose.setRotation(hingeRotation);
 doorFrame.setPoseAndUpdate(newDoorPose);
 
 for(RobotSide robotSide : RobotSide.values())
 {
   RigidBodyTransform handlePose = handlePoses.get(robotSide).getTransformToDesiredFrame(doorFrame);
   handlePose.setRotation(new AxisAngle(0.0, 1.0, 0.0, getHandleAngle()));
   handlePoses.get(robotSide).setPoseAndUpdate(handlePose);
 }
 
 super.updateAllGroundContactPointVelocities();
}

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