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

ReferenceFrame.constructFrameWithUnchangingTransformFromParent介绍

[英]Use ReferenceFrameTools#constructFrameWithUnchangingTransformFromParent(String,ReferenceFrame,RigidBodyTransform)instead.
[中]改用ReferenceFrameTools#ConstructionFrameWith UnchangingTransformFromParent（字符串、ReferenceFrame、RigidByTransform）。

代码示例

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 300000)
public void testSelectionForSimpleObjective() throws Exception
{
 ReferenceFrame taskFrame = ReferenceFrame.getWorldFrame();
 SelectionMatrix3D selectionMatrix = new SelectionMatrix3D();
 ReferenceFrame selectionFrame;
 Vector3D objective;
 Vector3D result;
 for (int i = 0; i < 1000; i++)
 {
   RigidBodyTransform selectionFrameTransform = EuclidCoreRandomTools.nextRigidBodyTransform(random);
   selectionFrame = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("SelectionFrame", ReferenceFrame.getWorldFrame(),
                                           selectionFrameTransform);
   objective = EuclidCoreRandomTools.nextVector3D(random);
   selectionMatrix.setSelectionFrame(selectionFrame);
   selectionMatrix.selectXAxis(random.nextBoolean());
   selectionMatrix.selectYAxis(random.nextBoolean());
   selectionMatrix.selectZAxis(random.nextBoolean());
   result = runTest(taskFrame, selectionMatrix, objective);
 }
 if (visualize)
 {
   visualize(taskFrame, selectionFrame, objective, result);
 }
}

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

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetTransformFromA1toA2Random()
{
 DenseMatrix64F matrix = new DenseMatrix64F(4, 4);
 Random random = new Random(111L);
 this.createRandomTransformationMatrix(matrix, random);
 RigidBodyTransform transformFromWorldToA1 = new RigidBodyTransform(matrix);
 this.createRandomTransformationMatrix(matrix, random);
 RigidBodyTransform transformFromWorldToA2 = new RigidBodyTransform(matrix);
 ReferenceFrame a1 = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("a1", ReferenceFrame.getWorldFrame(), transformFromWorldToA1);
 ReferenceFrame a2 = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("a2", ReferenceFrame.getWorldFrame(), transformFromWorldToA2);
 RigidBodyTransform transformA2toA1 = TransformTools.getTransformFromA2toA1(transformFromWorldToA1, transformFromWorldToA2);
 Point3D a2Origin = new Point3D();
 transformA2toA1.transform(a2Origin);
 // System.out.println("a2Origin after transform" + a2Origin);
 FramePoint3D a2OriginFramePoint = new FramePoint3D(a2);
 a2OriginFramePoint.changeFrame(a1);
 // System.out.println("a2OriginFramePoint = " + a2OriginFramePoint);
 a2Origin.epsilonEquals(a2OriginFramePoint, 1e-9);
}

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

ReferenceFrame frameA = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("A", worldFrame,
                                            EuclidCoreRandomTools.nextRigidBodyTransform(random));
ReferenceFrame frameB = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("B", worldFrame,
                                            EuclidCoreRandomTools.nextRigidBodyTransform(random));
ReferenceFrame frameC = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("C", frameB,
                                            EuclidCoreRandomTools.nextRigidBodyTransform(random));
ReferenceFrame frameD = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("D", frameA,
                                            EuclidCoreRandomTools.nextRigidBodyTransform(random));
ReferenceFrame[] frames = {worldFrame, frameA, frameB, frameC, frameD};

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-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetTransformFromA1toA2Simple()
{
 Vector3D vectorA1 = new Vector3D(-1.0, -2.0, -3.0);
 RigidBodyTransform transformFromWorldToA1 = new RigidBodyTransform();
 transformFromWorldToA1.setTranslation(vectorA1);
 Vector3D vectorA2 = new Vector3D(vectorA1);
 vectorA2.negate();
 RigidBodyTransform transformFromWorldToA2 = new RigidBodyTransform();
 transformFromWorldToA2.setTranslation(vectorA2);
 ReferenceFrame a1 = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("a1", ReferenceFrame.getWorldFrame(), transformFromWorldToA1);
 ReferenceFrame a2 = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("a2", ReferenceFrame.getWorldFrame(), transformFromWorldToA2);
 RigidBodyTransform transformA2toA1 = TransformTools.getTransformFromA2toA1(transformFromWorldToA1, transformFromWorldToA2);
 Point3D a2Origin = new Point3D();
 transformA2toA1.transform(a2Origin);
 // System.out.println("a2Origin after transform" + a2Origin);
 FramePoint3D a2OriginFramePoint = new FramePoint3D(a2);
 a2OriginFramePoint.changeFrame(a1);
 // System.out.println("a2OriginFramePoint = " + a2OriginFramePoint);
 a2Origin.epsilonEquals(a2OriginFramePoint, 1e-9);
}

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

transform.appendYawRotation(yaw);
transform.invert();
baseBlockFrame = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("baseFrame", ReferenceFrame.getWorldFrame(), transform);

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

copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.2, new FramePoint3D(worldFrame, 0.2, 0.15, 0.1));
copPointsInFoot.addWaypoint(CoPPointName.ENTRY_COP, 0.8, new FramePoint3D(worldFrame, 0.15, -0.05, 0.11));
ReferenceFrame newFrameToRegister = ReferenceFrame.constructFrameWithUnchangingTransformFromParent("RandomFrameToRegister", worldFrame,
                                                  new RigidBodyTransform(new Quaternion(),
                                                             new FrameVector3D(worldFrame,