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FootSpoof.getFrameAfterParentJoint
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How to use
getFrameAfterParentJoint
method
in
us.ihmc.humanoidRobotics.footstep.FootSpoof

Best Java code snippets using us.ihmc.humanoidRobotics.footstep.FootSpoof.getFrameAfterParentJoint (Showing top 5 results out of 315)

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}
origin: us.ihmc/ihmc-common-walking-control-modules-test

ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
ankleFrames.put(robotSide, ankleFrame);
ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
origin: us.ihmc/ihmc-common-walking-control-modules-test

contactableFeet.put(side, foot);
soleFrames.put(side, foot.getSoleFrame());
ankleFrames.put(side, foot.getFrameAfterParentJoint());
YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(side.getCamelCaseName(), foot.getRigidBody(), foot.getSoleFrame(),
                                 foot.getContactPoints2d(), foot.getCoefficientOfFriction(), testRegistry);
origin: us.ihmc/ihmc-common-walking-control-modules-test

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}
origin: us.ihmc/ihmc-common-walking-control-modules-test

this.ankleZUpFrames.put(side, new ZUpFrame(worldFrame, foot.getFrameAfterParentJoint(), footName + "AnkleZUpFrame"));
this.soleZUpFrames.put(side, new ZUpFrame(worldFrame, foot.getSoleFrame(), footName + "SoleZUpFrame"));
YoPlaneContactState contactState = new YoPlaneContactState(footName + "ContactState", foot.getRigidBody(), foot.getSoleFrame(),
us.ihmc.humanoidRobotics.footstepFootSpoofgetFrameAfterParentJoint

Popular methods of FootSpoof

  • <init>
  • setSoleFrame
  • getRigidBody
  • getSoleFrame
  • getCoefficientOfFriction
  • getContactPoints2d
  • setPose

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