本文整理了Java中us.ihmc.euclid.referenceFrame.ReferenceFrame.getTransformToWorldFrame方法的一些代码示例，展示了ReferenceFrame.getTransformToWorldFrame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.getTransformToWorldFrame方法的具体详情如下：
包路径：us.ihmc.euclid.referenceFrame.ReferenceFrame
类名称：ReferenceFrame
方法名：getTransformToWorldFrame

ReferenceFrame.getTransformToWorldFrame介绍

[英]Returns the transform that can be used to transform a geometry object defined in this frame to obtain its equivalent expressed in #getWorldFrame().

WARNING: This method generates garbage.
[中]返回可用于变换在此帧中定义的几何体对象的变换，以获得其在#getWorldFrame（）中表示的等效值。
警告：此方法会生成垃圾。

代码示例

代码示例来源：origin: us.ihmc/ihmc-manipulation-planning

@Override
public void updateRighdBodyTransform()
{
 RigidBodyTransform rigidbodyTransform = referenceFrame.getTransformToWorldFrame();
 rigidbodyTransform.appendTranslation(translationToCenter);
 transform = rigidbodyTransform;
}

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

cameraFrame.getTransformToWorldFrame().get(cameraOrientation, cameraPosition);
 stereoListeners.get(i).newImageAvailable(data, cameraFrame.getTransformToWorldFrame());

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

private void assertLastTwoStepsCenterAroundEndPoint(String testDescription, ArrayList<Footstep> footsteps, Point2D endWorldPoint)
{
 int numSteps = footsteps.size();
 Footstep lastStep = footsteps.get(numSteps - 1);
 Footstep nextLastStep = footsteps.get(numSteps - 2);
 Vector3D lastStepPosition = new Vector3D();
 Vector3D nextLastStepPosition = new Vector3D();
 Vector3D positionInFrame = new Vector3D();
 lastStep.getSoleReferenceFrame().getTransformToWorldFrame().getTranslation(lastStepPosition);
 nextLastStep.getSoleReferenceFrame().getTransformToWorldFrame().getTranslation(nextLastStepPosition);
 positionInFrame.interpolate(nextLastStepPosition, lastStepPosition, 0.5);
 Point2D positionInFrame2d = new Point2D(positionInFrame.getX(), positionInFrame.getY());
 double endPositionOffset = endWorldPoint.distance(positionInFrame2d);
 assertEquals(testDescription + " footsteps must end near desired end", 0.0, endWorldPoint.distance(positionInFrame2d), endPositionTolerance);
}

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

@Override
public void receivedPointCloudData(ReferenceFrame scanFrame, ReferenceFrame lidarFrame, long[] timestamps, ArrayList<Point3D> points,
   PointCloudSource... sources)
{
 if(DEBUG)
 {
   System.out.println(getClass().getSimpleName() + ": Received point cloud in " + scanFrame.getName() + " frame @ "
      + 1.0 / timer.lap() + " FPS from " + Thread.currentThread().getName());
 }
 if(timestamps.length > 0)
 {
   lidarFrame.update();
   RigidBodyTransform lidarTransform = lidarFrame.getTransformToWorldFrame();
   double localGroundHeight = Double.MAX_VALUE;
   for(Point3D point : points)
   {
    lidarTransform.transform(point);
    if(point.getZ() < localGroundHeight) localGroundHeight = point.getZ();
   }
   synchronized(this)
   {
    pointsInWorldFrame = points;
    groundHeight = localGroundHeight;
    timestamp = timestamps[0];
   }
 }
}

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

protected Footstep createFootstepPlacedAtBipedfootLocation(RobotSide side)
{
 ReferenceFrame soleFrame = soleFrames.get(side);
 Vector3D translation = new Vector3D();
 Quaternion rotation = new Quaternion();
 soleFrame.getTransformToWorldFrame().getTranslation(translation);
 soleFrame.getTransformToWorldFrame().getRotation(rotation);
 FramePose2D solePose2d = new FramePose2D(soleFrame, new Point2D(translation.getX(), translation.getY()), rotation.getYaw());
 Footstep foot = createFootstep(side, solePose2d);
 return foot;
}

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

private double getPlaneZGivenXY(ReferenceFrame planeFrame, double xWorld, double yWorld)
{
 RigidBodyTransform fromLocalToWorldTransform = planeFrame.getTransformToWorldFrame();
 // The three components of the plane origin
 double x0 = fromLocalToWorldTransform.getM03();
 double y0 = fromLocalToWorldTransform.getM13();
 double z0 = fromLocalToWorldTransform.getM23();
 // The three components of the plane normal
 double a = fromLocalToWorldTransform.getM02();
 double b = fromLocalToWorldTransform.getM12();
 double c = fromLocalToWorldTransform.getM22();
 // Given the plane equation: a*x + b*y + c*z + d = 0, with d = -(a*x0 + b*y0 + c*z0), we find z:
 double z = a / c * (x0 - xWorld) + b / c * (y0 - yWorld) + z0;
 return z;
}

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

RigidBodyTransform worldToCameraTransform = headFrame.getTransformToWorldFrame();
worldToCameraTransform.invert();

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

public void initialize(ReferenceFrame pelvisFrame, MocapRigidBody markerRigidBody)
{
 RigidBodyTransform marker2ToMocapTransform = new RigidBodyTransform(markerRigidBody.getOrientation(), markerRigidBody.getPosition());
 RigidBodyTransform worldToPelvisTransform = pelvisFrame.getTransformToWorldFrame();
 worldToPelvisTransform.invert();
 RigidBodyTransform worldToMocapTransform = new RigidBodyTransform();
 worldToMocapTransform.multiply(marker2ToMocapTransform);
 worldToMocapTransform.multiply(pelvisToMarker2Transform);
 worldToMocapTransform.multiply(worldToPelvisTransform);
 mocapFrame = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("mocapFrame", ReferenceFrame.getWorldFrame(), worldToMocapTransform);
 initialized = true;
}

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

footPosesAtStop.put(robotSide, stopThreadUpdatable.getTestFramePose2dCopy(footFrame.getTransformToWorldFrame()));
footPosesFinal.put(robotSide, stopThreadUpdatable.getTestFramePose2dCopy(footFrame.getTransformToWorldFrame()));

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

EuclidCoreTestTools.assertRigidBodyTransformEquals(c1.getTransformToWorldFrame(), c1_d.getTransformToWorldFrame(), epsilon);
EuclidCoreTestTools.assertRigidBodyTransformEquals(c2.getTransformToWorldFrame(), c2_d.getTransformToWorldFrame(), epsilon);

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

ReferenceFrame controlFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("ControlFrame", footFixedFrame, controlFrameTransform);
RigidBodyTransform controlFrameToWorldFrame = controlFrame.getTransformToWorldFrame();
Graphics3DObject controlFrameGraphics = new Graphics3DObject();
controlFrameGraphics.transform(controlFrameToWorldFrame);