本文整理汇总了C++中C7Vector::getInverse方法的典型用法代码示例。如果您正苦于以下问题：C++ C7Vector::getInverse方法的具体用法？C++ C7Vector::getInverse怎么用？C++ C7Vector::getInverse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C7Vector的用法示例。
在下文中一共展示了C7Vector::getInverse方法的2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: createLink
//.........这里部分代码省略.........
float dummySize[3]={0.01f,0.01f,0.01f};
currentCollision().n = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
*/
// Grouping collisions shapes
nLinkCollision = groupShapes(collisions);
// Inertia
if (inertiaPresent)
{
C3Vector euler;
if (nLinkCollision==-1)
{ // we do not have a collision object. Let's create a dummy collision object, since inertias can't exist on their own in V-REP:
float dummySize[3]={0.01f,0.01f,0.01f};
//nLinkCollision = simCreatePureShape( 1,1+2+4, dummySize, mass, NULL); // we make it non-respondable!
nLinkCollision = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
}
C7Vector inertiaFrame;
inertiaFrame.X.set(inertial_xyz);
inertiaFrame.Q=getQuaternionFromRpy(inertial_rpy);
//simSetObjectPosition(nLinkCollision,-1,inertiaFrame.X.data);
//C7Vector collisionFrame;
//collisionFrame.X.set(collision_xyz);
//collisionFrame.Q=getQuaternionFromRpy(collision_rpy);
C7Vector collisionFrame;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
//C4X4Matrix x((collisionFrame.getInverse()*inertiaFrame).getMatrix());
C4X4Matrix x(inertiaFrame.getMatrix());
float i[12]={x.M(0,0),x.M(0,1),x.M(0,2),x.X(0),x.M(1,0),x.M(1,1),x.M(1,2),x.X(1),x.M(2,0),x.M(2,1),x.M(2,2),x.X(2)};
simSetShapeMassAndInertia(nLinkCollision,mass,inertia,C3Vector::zeroVector.data,i);
//std::cout << "Mass: " << mass << std::endl;
}
else
{
if (nLinkCollision!=-1)
{
std::string txt("ERROR: found a collision object without inertia data for link '"+ name+"'. Is that link meant to be static?");
printToConsole(txt.c_str());
}
}
if (createVisualIfNone&&(visuals.size()==0)&&(nLinkCollision!=-1))
{ // We create a visual from the collision shape (meshes were handled earlier):
addVisual();
urdfElement &visual = currentVisual();
simRemoveObjectFromSelection(sim_handle_all,-1);
simAddObjectToSelection(sim_handle_single,nLinkCollision);
simCopyPasteSelectedObjects();
visual.n=simGetObjectLastSelection();
simSetObjectIntParameter(visual.n,3003,1); // we make it static since only visual
simSetObjectIntParameter(visual.n,3004,0); // we make it non-respondable since only visual
}
// Set the respondable mask:
if (nLinkCollision!=-1)
simSetObjectIntParameter(nLinkCollision,3019,0xff00); // colliding with everything except with other objects in that tree hierarchy
// Grouping shapes
nLinkVisual = groupShapes(visuals);
// Set the names, visibility, etc.:
if (nLinkVisual!=-1)
{
setVrepObjectName(nLinkVisual,std::string(name+"_visual").c_str());
const float specularDiffuse[3]={0.3f,0.3f,0.3f};
if (nLinkCollision!=-1)
{ // if we have a collision object, we attach the visual object to it, then forget the visual object
C7Vector collisionFrame;
C3Vector euler;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
C7Vector visualFrame;
simGetObjectPosition(nLinkVisual,-1,visualFrame.X.data);
simGetObjectOrientation(nLinkVisual,-1,euler.data);
visualFrame.Q.setEulerAngles(euler);
C7Vector x(collisionFrame.getInverse()*visualFrame);
simSetObjectPosition(nLinkVisual,-1,x.X.data);
simSetObjectOrientation(nLinkVisual,-1,x.Q.getEulerAngles().data);
simSetObjectParent(nLinkVisual,nLinkCollision,0);
}
}
if (nLinkCollision!=-1)
{
setVrepObjectName(nLinkCollision,std::string(name+"_respondable").c_str());
if (hideCollisionLinks)
simSetObjectIntParameter(nLinkCollision,10,256); // we "hide" that object in layer 9
}
}示例2: solve
//.........这里部分代码省略.........
{
treeHandle=newIKJoint;
lastJoint=treeHandle;
ikObjs.addRoot(lastJoint);
}
else
{
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
}
avatarParent=ikObjs.getJointWithData(dataValueBase+3);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+3;
rel=rotX90;
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+2);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+2;
rel=rotY90;
newIKJoint=new CIKJoint(graphJoint,rel,false,false);
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
avatarParent=ikObjs.getJointWithData(dataValueBase+1);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+1;
rel=rotX90*rotZ90.getInverse()*sphTr.getInverse()*rotY180;
newIKJoint=new CIKJoint(graphJoint,rel,true,false);
lastJoint->topJoint=newIKJoint; // This is mainly needed by the joint-limitation part!
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
lastJoint->active=false; // Inactive for now (we can activate it later)
avatarParent=ikObjs.getJointWithData(dataValueBase+0);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+0;
localTransformation=rotY180;
}
else
{ // From base to tip
C7Vector rel(localTransformation);
newIKJoint=new CIKJoint(graphJoint,rel,false,true);
if (lastJoint==NULL)
{
treeHandle=newIKJoint;
lastJoint=treeHandle;
ikObjs.addRoot(lastJoint);
}
else
{
ikObjs.addChild(lastJoint,newIKJoint);
lastJoint=newIKJoint;
}
lastJoint->active=false; // Inactive for now (we can activate it later)
avatarParent=ikObjs.getJointWithData(dataValueBase+0);
if (avatarParent!=NULL) // This joint is used twice (going up and going down)
avatarParent->addAvatar(lastJoint);
lastJoint->data=dataValueBase+0;