/** * Sets both position and orientation. * * @param position the tuple with the new position coordinates. Not modified. * @param orientation the new orientation. Not modified. */ default void set(Tuple3DReadOnly position, Orientation3DReadOnly orientation) { setOrientation(orientation); setPosition(position); }
/** * Sets the orientation from the given frame orientation 2D. * * @param orientation the orientation with the new angle value for this. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code orientation} are not expressed * in the same reference frame. */ default void setOrientation(FrameOrientation2DReadOnly orientation) { checkReferenceFrameMatch(orientation); Pose3DBasics.super.setOrientation(orientation); }
/** * Sets the orientation from the given frame orientation. * * @param orientation the orientation to set the orientation part of this frame pose. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code orientation} are not expressed * in the same reference frame. */ default void setOrientation(FrameOrientation3DReadOnly orientation) { checkReferenceFrameMatch(orientation); Pose3DBasics.super.setOrientation(orientation); }
/** {@inheritDoc} */ @Override default void setJointOrientation(Orientation3DReadOnly jointOrientation) { getJointPose().setOrientation(jointOrientation); }
/** * Sets this pose 3D to the {@code other} pose 3D. * * @param other the other pose 3D. Not modified. */ default void set(Pose3DReadOnly other) { setPosition(other.getPosition()); setOrientation(other.getOrientation()); }
/** * Sets this pose 3D to the given {@code pose2DReadOnly}. * * @param pose2DReadOnly the pose 2D used to set this pose 3D. Not modified. */ default void set(Pose2DReadOnly pose2DReadOnly) { setPosition(pose2DReadOnly.getPosition(), 0.0); setOrientation(pose2DReadOnly.getOrientation()); }
/** * Sets this pose 3D to match the given rigid-body transform. * * @param rigidBodyTransform the transform use to set this pose 3D. Not modified. */ default void set(RigidBodyTransform rigidBodyTransform) { setPosition(rigidBodyTransform.getTranslationVector()); setOrientation(rigidBodyTransform.getRotationMatrix()); }
/** * Sets this pose 3D to match the given quaternion-based transform. * * @param quaternionBasedTransform the transform use to set this pose 3D. Not modified. */ default void set(QuaternionBasedTransform quaternionBasedTransform) { setPosition(quaternionBasedTransform.getTranslationVector()); setOrientation(quaternionBasedTransform.getQuaternion()); }