us.ihmc.simulationconstructionset.Robot.computeCenterOfMass()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.simulationconstructionset.Robot.computeCenterOfMass方法的一些代码示例，展示了Robot.computeCenterOfMass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。Robot.computeCenterOfMass方法的具体详情如下：
包路径：us.ihmc.simulationconstructionset.Robot
类名称：Robot
方法名：computeCenterOfMass

Robot.computeCenterOfMass介绍

暂无

代码示例

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

private static Point3D computeCoM(Robot robot)
{
 Point3D com = new Point3D();
 robot.computeCenterOfMass(com);
 return com;
}

代码示例来源：origin: us.ihmc/ihmc-system-identification

public void packRobotComCopSeries(ArrayList<Point3D> outCom, ArrayList<Point3D> outCop)
{
 outCom.clear();
 outCop.clear();
 for (int i = 0; i < selectedFrames.length; i++)
 {
   dataBuffer.setIndexButDoNotNotifySimulationRewoundListeners(selectedFrames[i]);
   // model predicted CoM
   robot.update(); //this pull data from dataBuffer magically through YoVariables
   Point3D modelCoM = new Point3D();
   robot.computeCenterOfMass(modelCoM);
   outCom.add(modelCoM);
   // sensedCoP
   Point3D sensedCoP = new Point3D(dataBuffer.getVariable("sensedCoPX").getValueAsDouble(), dataBuffer.getVariable("sensedCoPY").getValueAsDouble(),
      dataBuffer.getVariable("sensedCoPZ").getValueAsDouble());
   outCop.add(sensedCoP);
 }
}

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

private void writeInfoToWorkBook(WritableWorkbook workbook)
{
 WritableSheet infoSheet = workbook.createSheet("Run info", workbook.getNumberOfSheets());
 int labelColumn = 0;
 int dataColumn = 1;
 int row = 0;
 addStringToSheet(infoSheet, labelColumn, row, "Date: ", headerCellFormat);
 WritableCell dateCell = new DateTime(dataColumn, row, Date.from(ZonedDateTime.now().toInstant()));
 addCell(infoSheet, dateCell);
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Robot type: ", headerCellFormat);
 addStringToSheet(infoSheet, dataColumn, row, robot.getClass().getSimpleName());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Robot name: ", headerCellFormat);
 addStringToSheet(infoSheet, dataColumn, row, robot.getName());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Total mass [kg]: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, robot.computeCenterOfMass(new Point3D()));
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Run time [s]: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, dataBuffer.getEntry(robot.getYoTime()).getMax());
 row++;
 addStringToSheet(infoSheet, labelColumn, row, "Mechanical cost of transport: ", headerCellFormat);
 addNumberToSheet(infoSheet, dataColumn, row, computeMechanicalCostOfTransport());
 row++;
}

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

private void checkRobotsHaveSameState(Robot robotA, Robot robotB)
{
 Point3D centerOfMassA = new Point3D();
 Point3D centerOfMassB = new Point3D();
 double totalMassA = robotA.computeCenterOfMass(centerOfMassA);
 double totalMassB = robotB.computeCenterOfMass(centerOfMassB);
 Vector3D angularMomentumA = new Vector3D();
 Vector3D angularMomentumB = new Vector3D();
 robotA.computeAngularMomentum(angularMomentumA);
 robotB.computeAngularMomentum(angularMomentumB);
 Vector3D linearMomentumA = new Vector3D();
 Vector3D linearMomentumB = new Vector3D();
 robotA.computeLinearMomentum(linearMomentumA);
 robotB.computeLinearMomentum(linearMomentumB);
 assertEquals(totalMassA, totalMassB, 1e-7);
 EuclidCoreTestTools.assertTuple3DEquals(centerOfMassA, centerOfMassB, 1e-10);
 EuclidCoreTestTools.assertTuple3DEquals(linearMomentumA, linearMomentumB, 1e-10);
 EuclidCoreTestTools.assertTuple3DEquals(angularMomentumA, angularMomentumB, 1e-9);
 ArrayList<Joint> jointsA = robotA.getRootJoints();
 ArrayList<Joint> jointsB = robotB.getRootJoints();
 recursivelyTestJointStateIsTheSame(jointsA, jointsB);
}

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

@Test// timeout = 30000
public void testOneRigidJoint()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(1.1, 2.2, 3.3);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 EuclidCoreTestTools.assertTuple3DEquals(centerOfMassOffset, centerOfMass, 1e-10);
}

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

private double computeMechanicalCostOfTransport()
 double robotMass = robot.computeCenterOfMass(new Point3D());
 Vector3D gravity = new Vector3D();
 robot.getGravity(gravity);

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

@Test// timeout = 30000
public void testOneRigidJointWithRotation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 RotationMatrix rotation = new RotationMatrix();
 Vector3D eulerAngles = new Vector3D(0.3, 0.1, 0.2);
 rotation.setEuler(eulerAngles);
 rigidJointOne.setRigidRotation(rotation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.3, 0.7, 1.11);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 rotation.transform(expectedCenterOfMass);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

@Test// timeout = 30000
public void testOneRigidJointWithTranslation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 Vector3D translation = new Vector3D(1.1, 2.2, 3.3);
 rigidJointOne.setRigidTranslation(translation);
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setTranslation(translation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.99, -0.4, 1.1);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 expectedCenterOfMass.add(translation);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

@Test// timeout = 30000
public void testOneRigidJointWithRotationAndTranslation()
{
 Robot robot = new Robot("Test");
 RigidJoint rigidJointOne = new RigidJoint("rigidJointOne", new Vector3D(), robot);
 RotationMatrix rotation = new RotationMatrix();
 Vector3D eulerAngles = new Vector3D(0.3, 0.1, 0.2);
 rotation.setEuler(eulerAngles);
 rigidJointOne.setRigidRotation(rotation);
 Vector3D translation = new Vector3D(0.3, -0.99, 1.11);
 rigidJointOne.setRigidTranslation(translation);
 RigidBodyTransform transform = new RigidBodyTransform();
 transform.setTranslation(translation);
 transform.setRotation(rotation);
 Link rigidLinkOne = new Link("rigidLinkOne");
 double massOne = 1.0;
 rigidLinkOne.setMassAndRadiiOfGyration(massOne, 0.1, 0.1, 0.1);
 Vector3D centerOfMassOffset = new Vector3D(0.3, 0.7, 1.11);
 rigidLinkOne.setComOffset(centerOfMassOffset);
 rigidJointOne.setLink(rigidLinkOne);
 robot.addRootJoint(rigidJointOne);
 robot.update();
 Point3D centerOfMass = new Point3D();
 double totalMass = robot.computeCenterOfMass(centerOfMass);
 assertEquals(massOne, totalMass, 1e-7);
 Point3D expectedCenterOfMass = new Point3D(centerOfMassOffset);
 transform.transform(expectedCenterOfMass);
 EuclidCoreTestTools.assertTuple3DEquals(expectedCenterOfMass, centerOfMass, 1e-10);
}

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

double totalMass = robot.computeCenterOfMass(comPoint);

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