Exemplos de Pose3f::rotateX em C++ (Cpp)

Exemplo n.º 1

Arquivo: KickViewMath.cpp Projeto: Yanzqing/BHumanCodeRelease

Pose3f KickViewMath::calculateHandPos(const JointAngles& jointAngles, const Joints::Joint& joint, const RobotDimensions& robotDimensions)
{
  Pose3f handPos;
  float sign = joint == Joints::lShoulderPitch ? 1.f : -1.f;

  handPos.translate(robotDimensions.armOffset.x(), sign *  robotDimensions.armOffset.y(), robotDimensions.armOffset.z());

  handPos.rotateY(-jointAngles.angles[joint]);
  handPos.rotateZ(sign * jointAngles.angles[joint + 1]);
  handPos.translate(robotDimensions.upperArmLength, 0, 0);

  handPos.rotateX(jointAngles.angles[joint + 2] * sign);
  handPos.rotateZ(sign * jointAngles.angles[joint + 3]);

  return handPos;
}