/** * Rotates the position part of this pose 3D by the given {@code rotation} and prepends it to the * orientation part. * * @param rotation the rotation to prepend to this pose 3D. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code rotation} are not expressed in * the same reference frame. * @see Orientation3DBasics#prepend(Orientation3DReadOnly) */ default void prependRotation(FrameOrientation3DReadOnly rotation) { checkReferenceFrameMatch(rotation); Pose3DBasics.super.prependRotation(rotation); }