本文整理汇总了C++中BodyNode::getName方法的典型用法代码示例。如果您正苦于以下问题：C++ BodyNode::getName方法的具体用法？C++ BodyNode::getName怎么用？C++ BodyNode::getName使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类BodyNode的用法示例。
在下文中一共展示了BodyNode::getName方法的6个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: check_self_consistency
void check_self_consistency(SkeletonPtr skeleton)
{
for(size_t i=0; i<skeleton->getNumBodyNodes(); ++i)
{
BodyNode* bn = skeleton->getBodyNode(i);
EXPECT_TRUE(bn->getIndexInSkeleton() == i);
EXPECT_TRUE(skeleton->getBodyNode(bn->getName()) == bn);
Joint* joint = bn->getParentJoint();
EXPECT_TRUE(skeleton->getJoint(joint->getName()) == joint);
for(size_t j=0; j<joint->getNumDofs(); ++j)
{
DegreeOfFreedom* dof = joint->getDof(j);
EXPECT_TRUE(dof->getIndexInJoint() == j);
EXPECT_TRUE(skeleton->getDof(dof->getName()) == dof);
}
}
for(size_t i=0; i<skeleton->getNumDofs(); ++i)
{
DegreeOfFreedom* dof = skeleton->getDof(i);
EXPECT_TRUE(dof->getIndexInSkeleton() == i);
EXPECT_TRUE(skeleton->getDof(dof->getName()) == dof);
}
}示例2: getNodeIndex
int Skeleton::getNodeIndex(const char* const name) {
const int nNodes = getNumNodes();
for(int i = 0; i < nNodes; i++){
BodyNode* node = getNode(i);
if (strcmp(name, node->getName()) == 0) {
return i;
}
}
return -1;
}示例3: createHubo
SkeletonPtr createHubo()
{
dart::utils::DartLoader loader;
loader.addPackageDirectory("drchubo", DART_DATA_PATH"/urdf/drchubo");
SkeletonPtr hubo =
loader.parseSkeleton(DART_DATA_PATH"/urdf/drchubo/drchubo.urdf");
for(size_t i = 0; i < hubo->getNumBodyNodes(); ++i)
{
BodyNode* bn = hubo->getBodyNode(i);
if(bn->getName().substr(0, 7) == "Body_LF"
|| bn->getName().substr(0, 7) == "Body_RF"
|| bn->getName().substr(0, 7) == "Body_NK")
{
bn->remove();
--i;
}
}
hubo->setPosition(5, 0.97);
for(size_t i=1; i < hubo->getNumJoints(); ++i)
{
hubo->getJoint(i)->setActuatorType(Joint::VELOCITY);
}
for(size_t i=0; i < hubo->getNumBodyNodes(); ++i)
{
BodyNode* bn = hubo->getBodyNode(i);
for(size_t j=0; j < bn->getNumVisualizationShapes(); ++j)
{
const ShapePtr& shape = bn->getVisualizationShape(j);
shape->setColor(Eigen::Vector3d(0.2, 0.2, 0.2));
if(MeshShapePtr mesh = std::dynamic_pointer_cast<MeshShape>(shape))
mesh->setColorMode(MeshShape::SHAPE_COLOR);
}
}
hubo->setName("drchubo");
return hubo;
}示例4: printDebugInfo
//==============================================================================
void Controller::printDebugInfo() const
{
std::cout << "[ATLAS Robot]" << std::endl
<< " NUM NODES : " << mAtlasRobot->getNumBodyNodes() << std::endl
<< " NUM DOF : " << mAtlasRobot->getNumDofs() << std::endl
<< " NUM JOINTS: " << mAtlasRobot->getNumBodyNodes() << std::endl;
for (std::size_t i = 0; i < mAtlasRobot->getNumBodyNodes(); ++i)
{
Joint* joint = mAtlasRobot->getJoint(i);
BodyNode* body = mAtlasRobot->getBodyNode(i);
BodyNode* parentBody = mAtlasRobot->getBodyNode(i)->getParentBodyNode();
std::cout << " Joint [" << i << "]: " << joint->getName() << " ("
<< joint->getNumDofs() << ")" << std::endl;
if (parentBody != nullptr)
{
std::cout << " Parent body: " << parentBody->getName() << std::endl;
}
std::cout << " Child body : " << body->getName() << std::endl;
}
}示例5: getBodyNodeIndex
int Skeleton::getBodyNodeIndex(const std::string& _name) const
{
const int nNodes = getNumBodyNodes();
for(int i = 0; i < nNodes; i++)
{
BodyNode* node = getBodyNode(i);
if (_name == node->getName())
return i;
}
return -1;
}示例6: getSkeletons
TEST(Skeleton, Restructuring)
{
std::vector<SkeletonPtr> skeletons = getSkeletons();
#ifndef NDEBUG
size_t numIterations = 10;
#else
size_t numIterations = 2*skeletons.size();
#endif
// Test moves within the current Skeleton
for(size_t i=0; i<numIterations; ++i)
{
size_t index = floor(math::random(0, skeletons.size()));
index = std::min(index, skeletons.size()-1);
SkeletonPtr skeleton = skeletons[index];
SkeletonPtr original = skeleton->clone();
size_t maxNode = skeleton->getNumBodyNodes()-1;
BodyNode* bn1 = skeleton->getBodyNode(floor(math::random(0, maxNode)));
BodyNode* bn2 = skeleton->getBodyNode(ceil(math::random(0, maxNode)));
if(bn1 == bn2)
{
--i;
continue;
}
BodyNode* child = bn1->descendsFrom(bn2)? bn1 : bn2;
BodyNode* parent = child == bn1? bn2 : bn1;
child->moveTo(parent);
EXPECT_TRUE(skeleton->getNumBodyNodes() == original->getNumBodyNodes());
if(skeleton->getNumBodyNodes() == original->getNumBodyNodes())
{
for(size_t j=0; j<skeleton->getNumBodyNodes(); ++j)
{
// Make sure no BodyNodes have been lost or gained in translation
std::string name = original->getBodyNode(j)->getName();
BodyNode* bn = skeleton->getBodyNode(name);
EXPECT_FALSE(bn == nullptr);
if(bn)
EXPECT_TRUE(bn->getName() == name);
name = skeleton->getBodyNode(j)->getName();
bn = original->getBodyNode(name);
EXPECT_FALSE(bn == nullptr);
if(bn)
EXPECT_TRUE(bn->getName() == name);
// Make sure no Joints have been lost or gained in translation
name = original->getJoint(j)->getName();
Joint* joint = skeleton->getJoint(name);
EXPECT_FALSE(joint == nullptr);
if(joint)
EXPECT_TRUE(joint->getName() == name);
name = skeleton->getJoint(j)->getName();
joint = original->getJoint(name);
EXPECT_FALSE(joint == nullptr);
if(joint)
EXPECT_TRUE(joint->getName() == name);
}
}
EXPECT_TRUE(skeleton->getNumDofs() == original->getNumDofs());
for(size_t j=0; j<skeleton->getNumDofs(); ++j)
{
std::string name = original->getDof(j)->getName();
DegreeOfFreedom* dof = skeleton->getDof(name);
EXPECT_FALSE(dof == nullptr);
if(dof)
EXPECT_TRUE(dof->getName() == name);
name = skeleton->getDof(j)->getName();
dof = original->getDof(name);
EXPECT_FALSE(dof == nullptr);
if(dof)
EXPECT_TRUE(dof->getName() == name);
}
}
// Test moves between Skeletons
for(size_t i=0; i<numIterations; ++i)
{
size_t fromIndex = floor(math::random(0, skeletons.size()));
fromIndex = std::min(fromIndex, skeletons.size()-1);
SkeletonPtr fromSkel = skeletons[fromIndex];
if(fromSkel->getNumBodyNodes() == 0)
{
--i;
continue;
}
size_t toIndex = floor(math::random(0, skeletons.size()));
toIndex = std::min(toIndex, skeletons.size()-1);
SkeletonPtr toSkel = skeletons[toIndex];
//.........这里部分代码省略.........