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
暂无
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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