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InverseDynamicsJoint.getFrameAfterJoint
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How to use
getFrameAfterJoint
method
in
us.ihmc.robotics.screwTheory.InverseDynamicsJoint

Best Java code snippets using us.ihmc.robotics.screwTheory.InverseDynamicsJoint.getFrameAfterJoint (Showing top 20 results out of 315)

origin: us.ihmc/IHMCHumanoidRobotics

public ReferenceFrame getFrameAfterParentJoint()
{
 return ankle.getFrameAfterJoint();
}
origin: us.ihmc/CommonWalkingControlModules

@Override
public ReferenceFrame getFrameAfterParentJoint()
{
 return rigidBody.getParentJoint().getFrameAfterJoint();
}
origin: us.ihmc/IHMCRoboticsToolkit

public AfterJointReferenceFrameNameMap(RigidBody base)
{
 InverseDynamicsJoint[] joints = ScrewTools.computeSubtreeJoints(base);
 
 for(InverseDynamicsJoint joint : joints)
 {
   afterJointReferenceFrames.put(joint.getFrameAfterJoint().getName(), joint.getFrameAfterJoint());
 }
}
origin: us.ihmc/CommonWalkingControlModules

@Override
public ReferenceFrame getFrameAfterParentJoint()
{
 return rigidBody.getParentJoint().getFrameAfterJoint();
}
origin: us.ihmc/SensorProcessing

public YoPointPositionDataObject(String namePrefix, RigidBody body, YoVariableRegistry registry)
{
 this(namePrefix, body.getParentJoint().getFrameAfterJoint(), registry);
}
origin: us.ihmc/SensorProcessing

public ReferenceFrame getEstimationFrame()
{
 return estimationLink.getParentJoint().getFrameAfterJoint();
}
origin: us.ihmc/IHMCPerception

private void addJoint(CollisionBoxProvider collissionBoxProvider, InverseDynamicsJoint joint)
{
 List<CollisionShape> collisionMesh = collissionBoxProvider.getCollisionMesh(joint.getName());
 if (collisionMesh != null)
 {
   trackingCollisionShapes.add(new TrackingCollisionShape(joint.getFrameAfterJoint(), collisionMesh));
 }
 else
 {
   System.err.println(joint + " does not have a collission mesh");
 }
}
origin: us.ihmc/SensorProcessing

public YoPointVelocityDataObject(String namePrefix, RigidBody body, YoVariableRegistry registry)
{
 this(namePrefix, body.getParentJoint().getFrameAfterJoint(), registry);
 rigidBodyName = body.getName();
}
origin: us.ihmc/IHMCRoboticsToolkit

public IMUDefinition(String name, RigidBody rigidBody, RigidBodyTransform transformFromIMUToJoint)
{
 this.name = name;
 this.rigidBody = rigidBody;
 this.transformFromIMUToJoint = new RigidBodyTransform(transformFromIMUToJoint);
 ReferenceFrame frameAfterJoint = rigidBody.getParentJoint().getFrameAfterJoint();
 imuFrame = ReferenceFrame.constructBodyFrameWithUnchangingTransformToParent(name, frameAfterJoint, transformFromIMUToJoint);
}
origin: us.ihmc/IHMCRoboticsToolkit

public static RigidBody addRigidBody(String name, InverseDynamicsJoint parentJoint, Matrix3d momentOfInertia, double mass, Vector3d centerOfMassOffset)
{
 String comFrameName = name + "CoM";
 ReferenceFrame comFrame = createOffsetFrame(parentJoint.getFrameAfterJoint(), centerOfMassOffset, comFrameName);
 RigidBodyInertia inertia = new RigidBodyInertia(comFrame, momentOfInertia, mass);
 RigidBody ret = new RigidBody(name, inertia, parentJoint);
 return ret;
}
origin: us.ihmc/IHMCRoboticsToolkit

public static RigidBody addRigidBody(String name, InverseDynamicsJoint parentJoint, Matrix3d momentOfInertia, double mass, RigidBodyTransform inertiaPose)
{
 String comFrameName = name + "CoM";
 ReferenceFrame comFrame = createOffsetFrame(parentJoint.getFrameAfterJoint(), inertiaPose, comFrameName);
 RigidBodyInertia inertia = new RigidBodyInertia(comFrame, momentOfInertia, mass);
 RigidBody ret = new RigidBody(name, inertia, parentJoint);
 return ret;
}
origin: us.ihmc/CommonWalkingControlModules

  private final static ListOfPointsContactablePlaneBody createListOfPointsContactablePlaneBody(String name, RigidBody body,
     RigidBodyTransform contactPointsTransform, List<Point2d> contactPoints)
  {
   ReferenceFrame parentFrame = body.getParentJoint().getFrameAfterJoint();
   ReferenceFrame contactPointsFrame = ReferenceFrame.constructBodyFrameWithUnchangingTransformToParent(name, parentFrame, contactPointsTransform);
   ListOfPointsContactablePlaneBody ret = new ListOfPointsContactablePlaneBody(body, contactPointsFrame, contactPoints);
   return ret;
  }
}
origin: us.ihmc/IHMCRoboticsToolkit

public ForceSensorDefinition(String sensorName, RigidBody rigidBody, RigidBodyTransform transformFromSensorToParentJoint)
{
 this.sensorName = sensorName;
 this.rigidBody = rigidBody;
 InverseDynamicsJoint parentJoint = rigidBody.getParentJoint();
 this.parentJointName = parentJoint.getName();
 this.transformFromSensorToParentJoint = new RigidBodyTransform(transformFromSensorToParentJoint);
 ReferenceFrame frameAfterJoint = parentJoint.getFrameAfterJoint();
 sensorFrame = ReferenceFrame.constructBodyFrameWithUnchangingTransformToParent(sensorName + "Frame", frameAfterJoint, transformFromSensorToParentJoint);
}
origin: us.ihmc/IHMCHumanoidRobotics

public static Footstep generateStandingFootstep(RobotSide side, RigidBody foot, ReferenceFrame soleFrame)
{
 FramePose footFramePose = new FramePose(foot.getParentJoint().getFrameAfterJoint());
 footFramePose.changeFrame(worldFrame);
 boolean trustHeight = false;
 PoseReferenceFrame footstepPoseFrame = new PoseReferenceFrame("footstepPoseFrame", footFramePose);
 Footstep footstep = new Footstep(foot, side, soleFrame, footstepPoseFrame, trustHeight);
 return footstep;
}
origin: us.ihmc/IHMCPerception

public SCSPointCloudLidarReceiver(String lidarName, ObjectCommunicator scsSensorsCommunicator, PointCloudDataReceiver pointCloudDataReceiver)
{
 this.pointCloudDataReceiver = pointCloudDataReceiver;
 this.lidarFrame = pointCloudDataReceiver.getLidarFrame(lidarName);
 RigidBodyTransform lidarBaseToSensorTransform = pointCloudDataReceiver.getLidarToSensorTransform(lidarName);
 ReferenceFrame lidarAfterJointFrame = pointCloudDataReceiver.getLidarJoint(lidarName).getFrameAfterJoint();
 this.lidarScanFrame = ReferenceFrame
    .constructBodyFrameWithUnchangingTransformToParent("lidarScanFrame", lidarAfterJointFrame, lidarBaseToSensorTransform);
 scsSensorsCommunicator.attachListener(SimulatedLidarScanPacket.class, this);
}
origin: us.ihmc/IHMCRoboticsToolkit

public static PassiveRevoluteJoint addPassiveRevoluteJoint(String jointName, RigidBody parentBody, RigidBodyTransform transformToParent, Vector3d jointAxis, boolean isPartOfClosedKinematicLoop)
{
 String beforeJointName = "before" + jointName;
 ReferenceFrame parentFrame;
 if (parentBody.isRootBody())
   parentFrame = parentBody.getBodyFixedFrame();
 else
   parentFrame = parentBody.getParentJoint().getFrameAfterJoint();
 ReferenceFrame frameBeforeJoint = createOffsetFrame(parentFrame, transformToParent, beforeJointName);
 String afterJointName = jointName;
 return new PassiveRevoluteJoint(afterJointName, parentBody, frameBeforeJoint, new FrameVector(frameBeforeJoint, jointAxis), isPartOfClosedKinematicLoop);
}
origin: us.ihmc/IHMCRoboticsToolkit

public static RevoluteJoint addRevoluteJoint(String jointName, RigidBody parentBody, RigidBodyTransform transformToParent, Vector3d jointAxis)
{
 String beforeJointName = "before" + jointName;
 ReferenceFrame parentFrame;
 if (parentBody.isRootBody())
   parentFrame = parentBody.getBodyFixedFrame();
 else
   parentFrame = parentBody.getParentJoint().getFrameAfterJoint();
 ReferenceFrame frameBeforeJoint = createOffsetFrame(parentFrame, transformToParent, beforeJointName);
 String afterJointName = jointName;
 RevoluteJoint joint = new RevoluteJoint(afterJointName, parentBody, frameBeforeJoint, new FrameVector(frameBeforeJoint, jointAxis));
 return joint;
}
origin: us.ihmc/IHMCRoboticsToolkit

public static PrismaticJoint addPrismaticJoint(String jointName, RigidBody parentBody, RigidBodyTransform transformToParent, Vector3d jointAxis)
{
 String beforeJointName = "before" + jointName;
 ReferenceFrame parentFrame;
 if (parentBody.isRootBody())
   parentFrame = parentBody.getBodyFixedFrame();
 else
   parentFrame = parentBody.getParentJoint().getFrameAfterJoint();
 ReferenceFrame frameBeforeJoint = createOffsetFrame(parentFrame, transformToParent, beforeJointName);
 String afterJointName = jointName;
 PrismaticJoint joint = new PrismaticJoint(afterJointName, parentBody, frameBeforeJoint, new FrameVector(frameBeforeJoint, jointAxis));
 return joint;
}
origin: us.ihmc/CommonWalkingControlModules

private Footstep createFootstepAtCurrentLocation(RobotSide robotSide)
{
 ContactablePlaneBody foot = feet.get(robotSide);
 ReferenceFrame footReferenceFrame = foot.getRigidBody().getParentJoint().getFrameAfterJoint();
 FramePose framePose = new FramePose(footReferenceFrame);
 framePose.changeFrame(worldFrame);
 PoseReferenceFrame poseReferenceFrame = new PoseReferenceFrame("poseReferenceFrame", framePose);
 boolean trustHeight = true;
 Footstep footstep = new Footstep(foot.getRigidBody(), robotSide, foot.getSoleFrame(), poseReferenceFrame, trustHeight);
 return footstep;
}
origin: us.ihmc/IHMCRoboticsToolkit

private static RigidBody cloneRigidBody(RigidBody original, String cloneSuffix, InverseDynamicsJoint parentJointOfClone)
{
 FramePoint comOffset = new FramePoint();
 original.getCoMOffset(comOffset);
 comOffset.changeFrame(original.getParentJoint().getFrameAfterJoint());
 String nameOriginal = original.getName();
 Matrix3d massMomentOfInertiaPartCopy = original.getInertia().getMassMomentOfInertiaPartCopy();
 double mass = original.getInertia().getMass();
 Vector3d comOffsetCopy = comOffset.getVectorCopy();
 RigidBody clone = ScrewTools.addRigidBody(nameOriginal + cloneSuffix, parentJointOfClone, massMomentOfInertiaPartCopy,
                          mass, comOffsetCopy);
 return clone;
}
us.ihmc.robotics.screwTheoryInverseDynamicsJointgetFrameAfterJoint

Javadoc

Returns the the ReferenceFrame that is attached to the successor of this joint, namely the RigidBody after this joint, and has its origin centered at the joint origin. The pose of the frameAfterJoint will change as this joint moves.

Popular methods of InverseDynamicsJoint

  • getName
    Returns the reference to the name of this joint.
  • getSuccessor
    Returns the RigidBody that succeeds this joint. In other words, the RigidBody directly connected to
  • getPredecessor
    Returns the RigidBody that precedes this joint. In other words, the RigidBody directly connected to
  • getConfigurationMatrix
    Packs this joint's configuration into a column vector DenseMatrix64F. Here are a few examples: * Fo
  • getDegreesOfFreedom
    Returns the number of degrees of freedom that this joint has.
  • getFrameBeforeJoint
    Returns the the ReferenceFrame that is attached to the predecessor of this joint, namely the RigidBo
  • setConfiguration
    Sets the joint current configuration from the given column vector DenseMatrix64F. Here are a few exa
  • calculateJointDesiredChecksum
  • calculateJointStateChecksum
  • getConfigurationMatrixSize
    In most cases, this is the same as #getDegreesOfFreedom(). However, for SixDoFJoint and SphericalJoi
  • getDesiredAccelerationMatrix
    Packs this joint desired acceleration into a column vector DenseMatrix64F. Here are a few examples:
  • getDesiredSuccessorAcceleration
    Packs the SpatialAccelerationVector (the 3D angular and linear accelerations) of this joint's succes
  • getDesiredAccelerationMatrix,
  • getDesiredSuccessorAcceleration,
  • getMotionSubspace,
  • getPredecessorTwist,
  • getSuccessorAcceleration,
  • getSuccessorTwist,
  • getTauMatrix,
  • getVelocityMatrix,
  • setDesiredAcceleration

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