public MovingZUpFrame(MovingReferenceFrame nonZUpFrame, String name) { super(name, nonZUpFrame.getRootFrame(), true); this.rootFrame = nonZUpFrame.getRootFrame(); this.nonZUpFrame = nonZUpFrame; }
public MovingMidFrame(String name, MovingReferenceFrame frameOne, MovingReferenceFrame frameTwo) { super(name, frameOne.getRootFrame()); if (frameOne == frameTwo) throw new IllegalArgumentException("The frames have to be different."); frameOne.verifySameRoots(frameTwo); this.frameOne = frameOne; this.frameTwo = frameTwo; }
public MovingWalkingReferenceFrame(String name, MovingReferenceFrame pelvisFrame, MovingMidFootZUpGroundFrame midFootZUpGroundFrame) { super(name, pelvisFrame.getRootFrame(), true); if (pelvisFrame == midFootZUpGroundFrame) throw new IllegalArgumentException("The frames have to be different."); pelvisFrame.verifySameRoots(midFootZUpGroundFrame); this.pelvisFrame = pelvisFrame; this.midFootZUpGroundFrame = midFootZUpGroundFrame; }
public MovingMidFrameZUpFrame(String name, MovingReferenceFrame frameOne, MovingReferenceFrame frameTwo) { super(name, frameOne.getRootFrame(), true); if (frameOne == frameTwo) throw new IllegalArgumentException("The frames have to be different."); frameOne.verifySameRoots(frameTwo); this.frameOne = frameOne; this.frameTwo = frameTwo; }
/** * Gets the inertial frame to use with this multi-body system. * <p> * The inertial frame is used as the principal referential when measuring the motion of an object in * space. It is usually set to the root frame of the reference frame tree this system is attached * to. * </p> * * @return the inertial frame. */ default ReferenceFrame getInertialFrame() { return getRootBody().getBodyFixedFrame().getRootFrame(); }
ZUpFrame zUpFrameAfterJoint = new ZUpFrame(frameAfterJoint.getRootFrame(), frameAfterJoint, frameAfterJoint.getName() + "ZUp"); MovingZUpFrame movingZUpFrameAfterJoint = new MovingZUpFrame(frameAfterJoint, frameAfterJoint.getName() + "ZUp");
isJacobianFrameAtCenterOfMass = jacobianFrame == null; RigidBodyReadOnly rootBody = input.getRootBody(); rootFrame = rootBody.getBodyFixedFrame().getRootFrame(); if (isJacobianFrameAtCenterOfMass)