us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics.getName()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.mecano.multiBodySystem.interfaces.RigidBodyBasics.getName方法的一些代码示例,展示了RigidBodyBasics.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。RigidBodyBasics.getName方法的具体详情如下:
包路径:us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics
类名称:RigidBodyBasics
方法名:getName

RigidBodyBasics.getName介绍

暂无

代码示例

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

@Override
public String toString()
{
 return "ForceSensorDefinition: " + sensorName + " attached to " + rigidBody.getName(); 
}

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

@Override
  public String toString()
  {
   return "IMUDefinition: " + name + " attached to " + rigidBody.getName();
  }
}

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

@Override
public int hashCode()
{
 return 17 + (31 * contactSensorName.hashCode()) + contactingRigidBody.getName().hashCode();
}

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

public void setCenterOfPressureByName(FramePoint2D centerOfPressure, RigidBodyBasics foot)
{
 RigidBodyBasics footFromNameMap = nameToRigidBodyMap.get(foot.getName());
 setCenterOfPressure(centerOfPressure, footFromNameMap);
}

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

public static Quaternion findControllerDesiredOrientation(SimulationConstructionSet scs, RigidBodyBasics chest)
{
 String chestPrefix = chest.getName();
 return findQuat4d("FeedbackControllerToolbox", chestPrefix + "DesiredOrientation", scs);
}

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

public static Vector3D findControllerDesiredAngularVelocity(SimulationConstructionSet scs, RigidBodyBasics chest)
{
 String chestPrefix = chest.getName();
 return findVector3d("FeedbackControllerToolbox", chestPrefix + "DesiredAngularVelocity", scs);
}

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

public static Vector3D findControlErrorRotationVector(SimulationConstructionSet scs, RigidBodyBasics chest)
{
 String chestPrefix = chest.getName();
 String nameSpace = FeedbackControllerToolbox.class.getSimpleName();
 String varName = chestPrefix + "ErrorRotationVector";
 return findVector3d(nameSpace, varName, scs);
}

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

private static YoBoolean findOrientationControlEnabled(SimulationConstructionSet scs, RigidBodyBasics body)
{
 String bodyName = body.getName();
 String namespace = bodyName + "OrientationFBController";
 String variable = bodyName + "IsOrientationFBControllerEnabled";
 return getBooleanYoVariable(scs, variable, namespace);
}

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

public void setCenterOfPressureByName(Point2D centerOfPressure, RigidBodyBasics foot)
{
 RigidBodyBasics footFromNameMap = nameToRigidBodyMap.get(foot.getName());
 setCenterOfPressure(centerOfPressure, footFromNameMap);
}

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

public void getCenterOfPressureByName(FramePoint2D centerOfPressureToPack, RigidBodyBasics foot)
{
 RigidBodyBasics footFromNameMap = nameToRigidBodyMap.get(foot.getName());
 getCenterOfPressure(centerOfPressureToPack, footFromNameMap);
}

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

private RigidBodyBasics getRigidBodyHasSameName(FullHumanoidRobotModel fullRobotModel, RigidBodyBasics givenRigidBody)
{
 RigidBodyBasics rootBody = MultiBodySystemTools.getRootBody(fullRobotModel.getElevator());
 RigidBodyBasics[] allRigidBodies = rootBody.subtreeArray();
 for (RigidBodyBasics rigidBody : allRigidBodies)
   if (givenRigidBody.getName().equals(rigidBody.getName()))
    return rigidBody;
 return null;
}

代码示例来源:origin: us.ihmc/ihmc-whole-body-controller

public void readControllerDataIntoEstimator()
{
 for (int i = 0; i < estimatorFeet.size(); i++)
 {
   RigidBodyBasics foot = estimatorFeet.get(i);
   estimatorCenterOfPressureDataHolder.setCenterOfPressure(centerOfPressure.get(foot.getName()), foot);
 }
 if (robotMotionStatus.get() != null)
   estimatorRobotMotionStatusHolder.setCurrentRobotMotionStatus(robotMotionStatus.getAndSet(null));
 
 intermediateDesiredJointDataHolder.readIntoEstimator();
}

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

public static int findControllerNumberOfWaypointsInQueueForHeight(SimulationConstructionSet scs, RigidBodyBasics rigidBody)
{
 String bodyName = rigidBody.getName();
 String offsetHeightTrajectoryName = bodyName + MultipleWaypointsPositionTrajectoryGenerator.class.getSimpleName();
 String numberOfWaypointsVarName = bodyName + "NumberOfWaypoints";
 int numberOfWaypoints = ((YoInteger) scs.getVariable(offsetHeightTrajectoryName, numberOfWaypointsVarName)).getIntegerValue();
 return numberOfWaypoints;
}

代码示例来源:origin: us.ihmc/ihmc-whole-body-controller

public void writeControllerDataFromController()
{
 for (int i = 0; i < controllerFeet.size(); i++)
 {
   RigidBodyBasics foot = controllerFeet.get(i);
   controllerCenterOfPressureDataHolder.getCenterOfPressureByName(centerOfPressure.get(foot.getName()), foot);
 }
 robotMotionStatus.set(controllerRobotMotionStatusHolder.getCurrentRobotMotionStatus());
 intermediateDesiredJointDataHolder.copyFromController();
}

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

public Pose3D getSpatialData(RigidBodyBasics rigidBody)
{
 for (int i = 0; i < spatialData.getRigidBodyNames().size(); i++)
 {
   if (spatialData.getRigidBodyNames().get(i).equals(rigidBody.getName()))
    return getSpatialData(i);
 }
 return null;
}

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

public static int findControllerNumberOfWaypointsInGenerator(SimulationConstructionSet scs, RigidBodyBasics body, String prefix)
{
 String bodyName = body.getName();
 int numberOfWaypoints = ((YoInteger) scs.getVariable(bodyName + "TaskspaceControlModule", bodyName + prefix + "TaskspaceNumberOfPointsInGenerator")).getIntegerValue();
 return numberOfWaypoints;
}

代码示例来源:origin: us.ihmc/ekf

public FootVelocitySensor(double dt, RigidBodyBasics foot, ReferenceFrame measurementFrame, String parameterGroup, YoVariableRegistry registry)
{
 super(FilterTools.stringToPrefix(foot.getName()) + "Velocity", dt, foot, measurementFrame, false, null, registry);
 this.sqrtHz = 1.0 / Math.sqrt(dt);
 weightFractionForFullTrust = FilterTools.findOrCreate(parameterGroup + "WeightFractionForFullTrust", registry, 0.5);
 weightFractionForNoTrust = FilterTools.findOrCreate(parameterGroup + "WeightFractionForNoTrust", registry, 0.05);
 maxVariance = FilterTools.findOrCreate(parameterGroup + "MaxVariance", registry, 1.0E10);
 minVariance = FilterTools.findOrCreate(parameterGroup + "MinVariance", registry, 0.01);
 String footName = FilterTools.stringToPrefix(foot.getName());
 loadPercentage = new YoDouble(footName + "LoadPercentage", registry);
 variance = new YoDouble(footName + "Variance", registry);
}

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

private YoDouble getPelvisOrientationErrorVariableName(SimulationConstructionSet scs, FullHumanoidRobotModel fullRobotModel)
  {
   String pelvisName = fullRobotModel.getPelvis().getName();
   String namePrefix = pelvisName + FeedbackControllerDataReadOnly.Type.ERROR.getName() + FeedbackControllerDataReadOnly.Space.ROTATION_VECTOR.getName();
   String varName = YoFrameVariableNameTools.createZName(namePrefix, "");
   return (YoDouble) scs.getVariable(FeedbackControllerToolbox.class.getSimpleName(), varName);
  }
}

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

private static YoFrameQuaternion findOrientationDesired(SimulationConstructionSet scs, RigidBodyBasics body)
{
 String bodyName = body.getName();
 String namespace = "FeedbackControllerToolbox";
 YoDouble qx = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQx", namespace);
 YoDouble qy = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQy", namespace);
 YoDouble qz = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQz", namespace);
 YoDouble qs = getDoubleYoVariable(scs, bodyName + "DesiredOrientationQs", namespace);
 return new YoFrameQuaternion(qx, qy, qz, qs, ReferenceFrame.getWorldFrame());
}

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

private void assertWeightsMatch(double xWeight, double yWeight, double zWeight, RigidBodyBasics rigidBody, SimulationConstructionSet scs)
{
 String prefix = rigidBody.getName() + "TaskspaceOrientation";
 YoDouble angularWeightX = (YoDouble) scs.getVariable(prefix + "CurrentWeightX");
 YoDouble angularWeightY = (YoDouble) scs.getVariable(prefix + "CurrentWeightY");
 YoDouble angularWeightZ = (YoDouble) scs.getVariable(prefix + "CurrentWeightZ");
 assertEquals(xWeight, angularWeightX.getDoubleValue(), 1e-8);
 assertEquals(yWeight, angularWeightY.getDoubleValue(), 1e-8);
 assertEquals(zWeight, angularWeightZ.getDoubleValue(), 1e-8);
}

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