/** * Set this transform to have translation described in translation and a rotation equal to the * Matrix3f matrix. * * @param matrix */ public final void set(Matrix3f matrix, Tuple3f translation) { setRotation(matrix); setTranslation(translation); }
/** * Set this transform to have zero translation and a rotation equal to the * Matrix3d matrix. * * @param matrix */ public final void setRotationAndZeroTranslation(Matrix3d matrix) { setRotation(matrix); setTranslation(0, 0, 0); }
/** * Set this transform to have translation described in vector and a rotation * equal to the Quat4d quat. * * @param quat */ public final void set(Quat4d quat, Tuple3d translation) { setRotation(quat); setTranslation(translation); }
/** * Sets this transform to have rotation described by axisAngle and zero * translation. * * @param axisAngle */ public final void setRotationAndZeroTranslation(AxisAngle4f axisAngle) { setRotation(axisAngle); setTranslation(0, 0, 0); }
/** * Set this transform to have zero translation and a rotation equal to the * Quat4d quat. * * @param quat */ public final void setRotationAndZeroTranslation(Quat4d quat) { setRotation(quat); setTranslation(0, 0, 0); }
/** * Set this transform to have translation described in translation and a rotation * equal to the Quat4f quat. * * @param quat */ public final void set(Quat4f quat, Tuple3f translation) { setRotation(quat); setTranslation(translation); }
/** * Set this transform to have zero translation and a rotation equal to the * Matrix3f matrix. * * @param matrix */ public final void setRotationAndZeroTranslation(Matrix3f matrix) { setRotation(matrix); setTranslation(0, 0, 0); }
/** * Sets this transform to have rotation described by axisAngle and zero * translation. * * @param axisAngle */ public final void setRotationAndZeroTranslation(AxisAngle4d axisAngle) { setRotation(axisAngle); setTranslation(0, 0, 0); }
/** * Set this transform to have zero translation and a rotation equal to the * Quat4f quat. * * @param quat */ public final void setRotationAndZeroTranslation(Quat4f quat) { setRotation(quat); setTranslation(0, 0, 0); }
public void setOrientation(Quat4d orientation) { RigidBodyTransform fromShape = getTransformFromShapeFrameUnsafe(); fromShape.setRotation(orientation); setTransformFromShapeFrame(fromShape); }
public void setOrientation(Matrix3d orientation) { RigidBodyTransform fromShape = getTransformFromShapeFrameUnsafe(); fromShape.setRotation(orientation); setTransformFromShapeFrame(fromShape); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { pelvisFrame.getTransformToDesiredFrame(transformToParent, parentFrame); desiredPelvisOrientation.get(rotationToParent); transformToParent.setRotation(rotationToParent); } };
/** * Set this transform to have translation described in vector * and a rotation equal to the Matrix3d matrix. * * @param matrix */ public final void set(Matrix3d matrix, Tuple3d translation) { setRotation(matrix); setTranslation(translation.getX(), translation.getY(), translation.getZ()); }
/** * Sets this transform to have rotation described by axisAngle and * translation described in the Vector3d argument vector. * * @param axisAngle */ public final void set(AxisAngle4d axisAngle, Tuple3d translation) { setRotation(axisAngle); setTranslation(translation.getX(), translation.getY(), translation.getZ()); }
/** * Sets this transform to have rotation described by axisAngle and * translation described by the Vector3f vector. * * @param axisAngle */ public final void set(AxisAngle4f axisAngle, Vector3f vector) { setRotation(axisAngle); setTranslation(vector.getX(), vector.getY(), vector.getZ()); }
public static Affine createAffineFromQuaternionAndTuple(Quat4d quaternion, Tuple3d translation) { RigidBodyTransform transform = new RigidBodyTransform(); transform.setRotation(quaternion); transform.setTranslation(translation.getX(), translation.getY(), translation.getZ()); return convertRigidBodyTransformToAffine(transform); }
public void setSolePose(Point3d positionInWorld, Quat4d orientationInWorld) { if (transformFromSoleToWorld == null) transformFromSoleToWorld = new RigidBodyTransform(); transformFromSoleToWorld.setRotation(orientationInWorld); transformFromSoleToWorld.setTranslation(positionInWorld.getX(), positionInWorld.getY(), positionInWorld.getZ()); setSolePose(transformFromSoleToWorld); }
public static Affine createAffineFromQuaternionAndTuple(Quat4f quaternion, Tuple3f translation) { RigidBodyTransform transform = new RigidBodyTransform(); transform.setRotation(quaternion); transform.setTranslation(translation.getX(), translation.getY(), translation.getZ()); return convertRigidBodyTransformToAffine(transform); }
public static void tranformSe3IntoTransform3D(Se3_F64 from, RigidBodyTransform to) { DenseMatrix64F R = from.getR(); Vector3D_F64 T = from.getT(); Matrix3d Rd = new Matrix3d(); denseMatrixToMatrix3d(R, Rd, 0, 0); to.setRotation(Rd); to.setTranslation(new Vector3d(T.x, T.y, T.z)); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { yoFramePose.getOrientation().getQuaternion(rotation); transformToParent.setRotation(rotation); YoFramePoint yoFramePoint = yoFramePose.getPosition(); transformToParent.setTranslation(yoFramePoint.getX(), yoFramePoint.getY(), yoFramePoint.getZ()); }