public YoFramePoint2d buildUpdatedYoFramePointForVisualizationOnly() { if (yoFramePointInWorld == null) { final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame(); if (!isReferenceFrameRegistered(worldFrame)) registerReferenceFrame(worldFrame); yoFramePointInWorld = new YoFramePoint2d(namePrefix, worldFrame.getName(), worldFrame, registry); attachVariableChangedListener(new VariableChangedListener() { private final FramePoint2d localFramePoint = new FramePoint2d(); private final YoFramePoint2d point = yoFramePointInWorld; @Override public void variableChanged(YoVariable<?> v) { getFrameTuple2dIncludingFrame(localFramePoint); point.setAndMatchFrame(localFramePoint); } }); } return yoFramePointInWorld; }
public YoFramePoint2D buildUpdatedYoFramePointForVisualizationOnly() { if (yoFramePointInWorld == null) { final ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame(); if (!isReferenceFrameRegistered(worldFrame)) registerReferenceFrame(worldFrame); yoFramePointInWorld = new YoFramePoint2D(namePrefix, worldFrame.getName(), worldFrame, registry); attachVariableChangedListener(new VariableChangedListener() { private final FramePoint2D localFramePoint = new FramePoint2D(); private final YoFramePoint2D point = yoFramePointInWorld; @Override public void notifyOfVariableChange(YoVariable<?> v) { localFramePoint.setIncludingFrame(YoFramePoint2dInMultipleFrames.this); point.setMatchingFrame(localFramePoint); } }); } return yoFramePointInWorld; }