本文整理了Java中us.ihmc.euclid.referenceFrame.ReferenceFrame.getName
方法的一些代码示例,展示了ReferenceFrame.getName
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。ReferenceFrame.getName
方法的具体详情如下:
包路径:us.ihmc.euclid.referenceFrame.ReferenceFrame
类名称:ReferenceFrame
方法名:getName
[英]Gets the name of this reference frame.
Reference frames usually have a unique name among the reference frames in the same tree but this is not guaranteed.
[中]获取此参照系的名称。
参考帧通常在同一树中的参考帧中具有唯一的名称,但这并不能保证。
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public YoGraphicReferenceFrame(ReferenceFrame referenceFrame, YoVariableRegistry registry, boolean useYawPitchRoll, double scale,
AppearanceDefinition arrowColor)
{
super(referenceFrame.getName(), "", registry, useYawPitchRoll, scale, arrowColor);
this.referenceFrame = referenceFrame;
}
代码示例来源:origin: us.ihmc/ihmc-graphics-description
public YoGraphicReferenceFrame(String prefix, ReferenceFrame referenceFrame, YoVariableRegistry registry, boolean useYawPitchRoll, double scale,
AppearanceDefinition arrowColor)
{
super(prefix + referenceFrame.getName(), "", registry, useYawPitchRoll, scale, arrowColor);
this.referenceFrame = referenceFrame;
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public AfterJointReferenceFrameNameMap(List<ReferenceFrame> frames)
{
for(ReferenceFrame frame : frames)
{
afterJointReferenceFrames.put(frame.getName(), frame);
}
}
代码示例来源:origin: us.ihmc/euclid-frame
private boolean hasChildWithName(String childName)
{
updateChildren();
return children.stream().map(WeakReference::get).filter(child -> child != null).anyMatch(child -> child.getName().equals(childName));
}
代码示例来源:origin: us.ihmc/mecano
private static ScrewTheoryException unhandledReferenceFrameTypeException(ReferenceFrame referenceFrame)
{
return new ScrewTheoryException("The reference frame type: " + referenceFrame.getClass().getSimpleName()
+ " is currently not handled. Reference frame name: " + referenceFrame.getName());
}
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public static String waypointToString(Point3DReadOnly position, Vector3DReadOnly linearVelocity, ReferenceFrame referenceFrame, NumberFormat format)
{
String referenceFrameToString = referenceFrame == null ? "" : ", " + referenceFrame.getName();
return "Euclidean waypoint: " + "[" + positionToString(position, format) + ", " + linearVelocityToString(linearVelocity, format) + referenceFrameToString
+ "].";
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public static String waypointToString(QuaternionReadOnly orientation, Vector3DReadOnly angularVelocity, ReferenceFrame referenceFrame, NumberFormat format)
{
String referenceFrameToString = referenceFrame == null ? "" : ", " + referenceFrame.getName();
return "SO3 waypoint: " + "[" + orientationToString(orientation, format) + ", " + angularVelocityToString(angularVelocity, format)
+ referenceFrameToString + "].";
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public NumericalMovingReferenceFrame(String nameSuffix, ReferenceFrame originalFrame, double updateDT)
{
super(originalFrame.getName() + nameSuffix, originalFrame.getRootFrame());
this.originalFrame = originalFrame;
this.updateDT = updateDT;
previousRotation.setToNaN();
previousTranslation.setToNaN();
}
代码示例来源:origin: us.ihmc/ihmc-avatar-interfaces-test
private void checkReferenceFramesMatch(ReferenceFrame referenceFrameA, ReferenceFrame referenceFrameB)
{
assertEquals("reference frame names didnt match", referenceFrameA.getName(), referenceFrameB.getName());
assertEquals("hash codes didn't match", referenceFrameA.hashCode(), referenceFrameB.hashCode());
if (referenceFrameA.getParent() != null || referenceFrameB.getParent() != null)
{
assertEquals("parent reference frame names didnt match", referenceFrameA.getParent().getName(), referenceFrameB.getParent().getName());
assertEquals("parent hash codes didn't match", referenceFrameA.getParent().hashCode(), referenceFrameB.getParent().hashCode());
}
}
代码示例来源:origin: us.ihmc/simulation-construction-set-test
@Test// timeout=300000
public void testGetYoVelocity()
{
YoFrameVector3D yoVelocity = kinematicPoint.getYoVelocity();
String frameName = yoVelocity.getReferenceFrame().getName();
assertEquals("( 0.000, 0.000, 0.000 )-" + frameName, yoVelocity.toString());
yoVelocity.set(new Vector3D(5.0, 5.1, 5.2));
assertEquals("( 5.000, 5.100, 5.200 )-" + frameName, yoVelocity.toString());
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public static String waypointToString(Point3DReadOnly position, QuaternionReadOnly orientation, Vector3DReadOnly linearVelocity, Vector3DReadOnly angularVelocity, ReferenceFrame referenceFrame,
NumberFormat format)
{
String referenceFrameToString = referenceFrame == null ? "" : ", " + referenceFrame.getName();
return "SE3 waypoint: " + "[" + positionToString(position, format) + ", " + orientationToString(orientation, format) + ", "
+ linearVelocityToString(linearVelocity, format) + ", " + angularVelocityToString(angularVelocity, format) + referenceFrameToString + "].";
}
代码示例来源:origin: us.ihmc/ihmc-yovariables
@Override
public String toString()
{
return "(yaw = " + yaw.getDoubleValue() + ", pitch = " + pitch.getDoubleValue() + ", roll = " + roll.getDoubleValue() + ")-" + getReferenceFrame().getName();
}
}
代码示例来源:origin: us.ihmc/simulation-construction-set-test
@Test// timeout=300000
public void testGetYoPosition()
{
YoFramePoint3D yoPosition = kinematicPoint.getYoPosition();
String frameName = yoPosition.getReferenceFrame().getName();
assertEquals("( 0.000, 0.000, 0.000 )-" + frameName, yoPosition.toString());
yoPosition.set(new Point3D(5.0, 5.1, 5.2));
assertEquals("( 5.000, 5.100, 5.200 )-" + frameName, yoPosition.toString());
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
/**
* Change the current reference frame for another one that has already been registered.
* @param newCurrentReferenceFrame
* @return ReferenceFrame the previous current reference frame
*/
public ReferenceFrame switchCurrentReferenceFrame(ReferenceFrame newCurrentReferenceFrame)
{
ReferenceFrame previousReferenceFrame = getCurrentReferenceFrame();
if(!referenceFrames.contains(newCurrentReferenceFrame.hashCode()))
{
throw new RuntimeException("The frame: " + newCurrentReferenceFrame.getName() + " has not been registered.");
}
currentFrameId.set(newCurrentReferenceFrame.hashCode());
return previousReferenceFrame;
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit-test
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRotatePoseAboutCollinearAxisAndCheckTranslation()
{
Random random = new Random(1179L);
double angleToRotate = RandomNumbers.nextDouble(random, Math.toRadians(720.0));
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
FramePose3D framePose = new FramePose3D(worldFrame);
framePose.setPosition(1.0, 0.0, 1.0);
framePose.setOrientation(RandomGeometry.nextQuaternion(random));
GeometryTools.rotatePoseAboutAxis(framePose.getReferenceFrame(), Axis.Z, angleToRotate, framePose);
Point3D actualPosePositionAfterRotation = new Point3D(framePose.getPosition());
Point3D desiredPosition = new Point3D(Math.cos(angleToRotate), Math.sin(angleToRotate), 1.0);
Vector3D positionError = new Vector3D();
positionError.sub(desiredPosition, actualPosePositionAfterRotation);
assertTrue("Reference Frame shoud not have changed. Actual frame: " + framePose.getReferenceFrame().getName() + ", Desired frame: "
+ worldFrame.getName(), framePose.getReferenceFrame() == worldFrame);
assertEquals("FramePose Position after rotation is wrong. Desired position: " + desiredPosition + ", actual position: "
+ actualPosePositionAfterRotation, 0.0, positionError.length(), 1e-3);
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit-test
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRotateAndUnrotatePoseAboutCollinearAxis()
{
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
double angleToRotate = Math.toRadians(90.0);
FramePose3D framePose = new FramePose3D(worldFrame);
framePose.setPosition(0.0, 0.0, 1.0);
FramePose3D framePoseCopy = new FramePose3D(framePose);
GeometryTools.rotatePoseAboutAxis(framePose.getReferenceFrame(), Axis.Z, 0.5 * angleToRotate , framePose);
GeometryTools.rotatePoseAboutAxis(framePose.getReferenceFrame(), Axis.Z, -0.5 * angleToRotate, framePose);
double positionDistance = framePose.getPositionDistance(framePoseCopy);
double orientationDistance = framePose.getOrientationDistance(framePoseCopy);
assertTrue("Reference Frame shoud not have changed. Actual frame: " + framePose.getReferenceFrame().getName() + ", Desired frame: "
+ worldFrame.getName(), framePose.getReferenceFrame() == worldFrame);
assertEquals("Change in FramePose Position after rotation is wrong.", 0.0, positionDistance, 1e-3);
assertEquals("Change in FramePose Orientation after rotation is wrong.", 0.0, orientationDistance, Math.toRadians(0.1));
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit-test
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testRotatePoseAboutCollinearAxisIncrementally()
{
Random random = new Random(1179L);
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
double angleToRotate = RandomNumbers.nextDouble(random, Math.toRadians(720.0));
FramePose3D framePose = new FramePose3D(worldFrame);
framePose.setPosition(0.0, 0.0, 1.0);
FramePose3D framePoseCopy = new FramePose3D(framePose);
GeometryTools.rotatePoseAboutAxis(framePose.getReferenceFrame(), Axis.Z, 0.5 * angleToRotate, framePose);
GeometryTools.rotatePoseAboutAxis(framePose.getReferenceFrame(), Axis.Z, 0.5 * angleToRotate, framePose);
double positionDistance = framePose.getPositionDistance(framePoseCopy);
double orientationDistance = AngleTools.trimAngleMinusPiToPi(framePose.getOrientationDistance(framePoseCopy));
double desiredOrientationDistance = AngleTools.trimAngleMinusPiToPi(angleToRotate);
assertTrue("Reference Frame shoud not have changed. Actual frame: " + framePose.getReferenceFrame().getName() + ", Desired frame: "
+ worldFrame.getName(), framePose.getReferenceFrame() == worldFrame);
assertEquals("Change in FramePose Position after rotation is wrong.", 0.0, positionDistance, 1e-3);
assertEquals("Change in FramePose Orientation after rotation is wrong.", desiredOrientationDistance, orientationDistance, Math.toRadians(0.1));
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoFramePoint3D buildUpdatedYoFramePointForVisualizationOnly()
{
if (yoFramePointInWorld == null)
{
final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
if (!isReferenceFrameRegistered(worldFrame))
registerReferenceFrame(worldFrame);
yoFramePointInWorld = new YoFramePoint3D(namePrefix, worldFrame.getName(), worldFrame, registry);
attachVariableChangedListener(new VariableChangedListener()
{
private final FramePoint3D localFramePoint = new FramePoint3D();
private final YoFramePoint3D point = yoFramePointInWorld;
@Override
public void notifyOfVariableChange(YoVariable<?> v)
{
localFramePoint.setIncludingFrame(YoFramePointInMultipleFrames.this);
point.setMatchingFrame(localFramePoint);
}
});
}
return yoFramePointInWorld;
}
代码示例来源:origin: us.ihmc/ihmc-robotics-toolkit
public YoFramePoint2D buildUpdatedYoFramePointForVisualizationOnly()
{
if (yoFramePointInWorld == null)
{
final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
if (!isReferenceFrameRegistered(worldFrame))
registerReferenceFrame(worldFrame);
yoFramePointInWorld = new YoFramePoint2D(namePrefix, worldFrame.getName(), worldFrame, registry);
attachVariableChangedListener(new VariableChangedListener()
{
private final FramePoint2D localFramePoint = new FramePoint2D();
private final YoFramePoint2D point = yoFramePointInWorld;
@Override
public void notifyOfVariableChange(YoVariable<?> v)
{
localFramePoint.setIncludingFrame(YoFramePoint2dInMultipleFrames.this);
point.setMatchingFrame(localFramePoint);
}
});
}
return yoFramePointInWorld;
}
代码示例来源:origin: us.ihmc/euclid-test
@Ignore
@Test
public void testUniqueNaming()
{
Random random = new Random(13L);
ReferenceFrame someFrame = EuclidFrameRandomTools.nextReferenceFrame(random);
String frameName = someFrame.getName();
ReferenceFrame parent = someFrame.getParent();
try
{
ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
fail("Should have thrown a RuntimeException");
}
catch (RuntimeException e)
{
// good
}
ReferenceFrameTools.removeFrame(someFrame);
someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
someFrame.remove();
someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
ReferenceFrameTools.clearFrameTree(someFrame);
someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
ReferenceFrameTools.clearWorldFrameTree();
ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
}
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