How to use

getOrientation

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

public void set(ArrayList<Footstep> footsteps, double swingTime, double transferTime)
{
 FootstepDataListMessage footstepDataList = new FootstepDataListMessage(swingTime,transferTime);
 for (int i = 0; i < footsteps.size(); i++)
 {
   Footstep footstep = footsteps.get(i);
   Point3d location = new Point3d(footstep.getX(), footstep.getY(), footstep.getZ());
   Quat4d orientation = new Quat4d();
   footstep.getOrientation(orientation);
   RobotSide footstepSide = footstep.getRobotSide();
   FootstepDataMessage footstepData = new FootstepDataMessage(footstepSide, location, orientation);
   footstepDataList.add(footstepData);
 }
 set(footstepDataList);
}

transferFromFootstep.getPosition(transferFromFootFramePoint);
FrameQuaternion transferFromFootOrientation = new FrameQuaternion();
transferFromFootstep.getOrientation(transferFromFootOrientation);
transferFromFootSpoof.setPose(transferFromFootFramePoint, transferFromFootOrientation);
transferToFootstep.getPosition(transferToFootFramePoint);
FrameQuaternion transferToFootOrientation = new FrameQuaternion();
transferToFootstep.getOrientation(transferToFootOrientation);
transferToFootSpoof.setPose(transferToFootFramePoint, transferToFootOrientation);