pelvisStateAtLocalizationTimeTranslationFrame = new YoReferencePose("pelvisStateAtLocalizationTimeTranslationFrame", worldFrame, registry); pelvisStateAtLocalizationTimeRotationFrame = new YoReferencePose("pelvisStateAtLocalizationTimeRotationFrame", worldFrame, registry); newLocalizationTranslationFrame = new YoReferencePose("newLocalizationTranslationFrame", worldFrame, registry); newLocalizationRotationFrame = new YoReferencePose("newLocalizationRotationFrame", worldFrame, registry); interpolationTranslationStartFrame = new YoReferencePose("interpolationTranslationStartFrame", worldFrame, registry); interpolationRotationStartFrame = new YoReferencePose("interpolationRotationStartFrame", worldFrame, registry); totalTranslationErrorFrame = new YoReferencePose("totalTranslationErrorFrame", worldFrame, registry); totalRotationErrorFrame = new YoReferencePose("totalRotationErrorFrame", worldFrame, registry); interpolatedTranslationCorrectionFrame = new YoReferencePose("interpolatedTranslationCorrectionFrame", worldFrame, registry); interpolatedRotationCorrectionFrame = new YoReferencePose("interpolatedRotationCorrectionFrame", worldFrame, registry); translationCorrection = new YoReferencePose("translationCorrection", worldFrame, registry); nonCorrectedPelvis = new YoReferencePose("nonCorrectedPelvis", translationCorrection, registry); orientationCorrection = new YoReferencePose("orientationCorrection", nonCorrectedPelvis, registry); correctedPelvis = new YoReferencePose("correctedPelvis", worldFrame, registry);