How to use

computeRotationTranslation

method

in

us.ihmc.graphicsDescription.yoGraphics.YoGraphic

public final Transform3d getTransform()
{
 if (showGraphicObject && !containsNaN())
 {
   computeRotationTranslation(objectTransform);
   if (USE_JESPERS_BUGGY_HACK_TO_TRY_TO_PUT_YOGRAPHICS_WITH_RESPECT_TO_ROBOT)
   {
    // This is a buggy attempt to make the graphic objects go where the robot is, rather than the estimated robot.
    // It works when simulating, but not when rewinding.
    transform.multiply(rootTransform, objectTransform);
   }
   else
   {
    transform.set(objectTransform);
   }
 }
 else
 {
   transform.setIdentity();
   transform.setScale(0.0);
 }
 return transform;
}

public final AffineTransform getTransform()
{
 if (showGraphicObject && !containsNaN())
 {
   computeRotationTranslation(objectTransform);
   if (USE_JESPERS_BUGGY_HACK_TO_TRY_TO_PUT_YOGRAPHICS_WITH_RESPECT_TO_ROBOT)
   {
    // This is a buggy attempt to make the graphic objects go where the robot is, rather than the estimated robot.
    // It works when simulating, but not when rewinding.
    transform.set(objectTransform);
    transform.preMultiply(rootTransform);
   }
   else
   {
    transform.set(objectTransform);
   }
 }
 else
 {
   transform.setIdentity();
   transform.setScale(0.0);
 }
 return transform;
}