/** * @deprecated use {@link #setRotationEulerAndZeroTranslation(Vector3d)} instead. * @param vector */ public final void setEuler(Vector3d vector) { setRotationEulerAndZeroTranslation(vector); } /**
/** * @deprecated Use {@link #setRotationEulerAndZeroTranslation(double, double, double)} instead. */ public final void setEuler(double rotX, double rotY, double rotZ) { setRotationEulerAndZeroTranslation(rotX, rotY, rotZ); }
public void getTransform3D(RigidBodyTransform transformToPack) { transformToPack.setRotationEulerAndZeroTranslation(0.0, 0.0, this.yaw); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(90), 0, 0); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(90), 0, 0); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(-90), Math.toRadians(0), Math.toRadians(0)); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(-90), Math.toRadians(0), Math.toRadians(0)); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(-Math.PI / 2, 0.0, -Math.PI / 2); transformToParent.setTranslation(0, 0.035, -0.002); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(-90), 0, 0); setTransformToParent(transformToParent); } };
public void rotateEuler(Vector3d eulerAngles) { tempTransform.setRotationEulerAndZeroTranslation(eulerAngles); transform.multiply(transform, tempTransform); }
public void rotateEuler(double rotateX, double rotateY, double rotateZ) { tempTransform.setRotationEulerAndZeroTranslation(rotateX, rotateY, rotateZ); transform.multiply(transform, tempTransform); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(-Math.PI / 2, 0.0, -Math.PI / 2); transformToParent.setTranslation(0, 0.035, -0.002); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setRotationEulerAndZeroTranslation(Math.toRadians(90), 0, 0); setTransformToParent(transformToParent); } };
public void translateThenRotateEuler(Vector3d translationVector, Vector3d eulerAngles) { tempTransform.setRotationEulerAndZeroTranslation(eulerAngles); tempTransform.setTranslation(translationVector); transform.multiply(transform, tempTransform); }
public static RigidBodyTransform createTransformFromTranslationAndEulerAngles(Vector3d translation, Vector3d eulerAngles) { RigidBodyTransform transform = new RigidBodyTransform(); transform.setRotationEulerAndZeroTranslation(eulerAngles); transform.setTranslation(translation); return transform; }
public void packTransformFromBasePelvisToWheel(RigidBodyTransform transformToPack) { transformFromOldBasePelvisToWheel.setRotationEulerAndZeroTranslation(WHEEL_FRAME_XX, WHEEL_FRAME_YY, WHEEL_FRAME_ZZ); transformFromOldBasePelvisToWheel.setTranslation(new Vector3d(WHEEL_FRAME_X, WHEEL_FRAME_Y, WHEEL_FRAME_Z)); transformToPack.multiply(transformFromNewPelvisToOldPelvis, transformFromOldBasePelvisToWheel); }
/** * Set the rotational component of the transform to the rotation matrix * created given an X-Y-Z rotation described by the angles in vector which * describe angles of rotation about the X, Y, and Z axis, respectively. The * orientation of each rotation is not effected by any of the other * rotations. This method sets the translational component of this * transform3d to zeros. * * @param vector */ public final void setRotationEulerAndZeroTranslation(Vector3d vector) { setRotationEulerAndZeroTranslation(vector.getX(), vector.getY(), vector.getZ()); }
void trainSingleDetector(double yaw, double pitch, double roll, double distance) { OrganizedPointCloud cloud = renderCloud(yaw, pitch, roll, distance); int[] mask = makeMaskByZThresholing(cloud, 1.5f); writeMask(mask, cloud.width, cloud.height); LineModTemplate template = LineModInterface.trainTemplateBytes(cloud, mask); RigidBodyTransform transform = new RigidBodyTransform(); transform.setRotationEulerAndZeroTranslation(roll, pitch, yaw); transform.setTranslation(0, 0, distance); template.transform = transform; byteFeatures.add(template); }
private void addBox(double x, double y, double z, double roll, double pitch, double yaw, double sizeX, double sizeY, double sizeZ, CombinedTerrainObject3D terrainObject) { RigidBodyTransform transform = new RigidBodyTransform(); transform.setRotationEulerAndZeroTranslation(roll, pitch, yaw); transform.setTranslation(new Vector3d(x, y, z)); Box3d box = new Box3d(transform, sizeX, sizeY, sizeZ); terrainObject.addRotatableBox(box, YoAppearance.DarkGray()); }
private RigidBodyTransform getTransformFromStepToWorld(RigidBodyTransform soleZUpTransform, Vector3d stepVectorInSoleFrame, double stepYaw) { Point3d stepLocationInWorld = new Point3d(stepVectorInSoleFrame); soleZUpTransform.transform(stepLocationInWorld); Vector3d stepRotationEulerInWorld = new Vector3d(); soleZUpTransform.getRotationEuler(stepRotationEulerInWorld); // stepRotationEulerInWorld.setZ((stepRotationEulerInWorld.getZ() + stepYaw + 2.0 * Math.PI) % Math.PI); stepRotationEulerInWorld.setZ(stepRotationEulerInWorld.getZ() + stepYaw); RigidBodyTransform nextTransform = new RigidBodyTransform(); nextTransform.setRotationEulerAndZeroTranslation(stepRotationEulerInWorld); nextTransform.setTranslation(stepLocationInWorld.getX(), stepLocationInWorld.getY(), stepLocationInWorld.getZ()); return nextTransform; }