public void translate(double x, double y, double z) { tempTransform.setTranslationAndIdentityRotation(x, y, z); transform.set(transform); transform.multiply(tempTransform); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.setIdentity(); transformToParent.setTranslation(originVector); }
@Override protected void computeRotationTranslation(AffineTransform transform3d) { transform3d.setIdentity(); }
@Override public void getBodyTransformToWorld(RigidBodyTransform transformToWorld) { transformToWorld.set(originalSteeringWheelPose); }
public void transform(RigidBodyTransform transform) { for (int i = 0; i < numberOfScanPoints; i++) transform.transform(scanPoints[i]); }
/** * Packs the orientation of this shape into an axis-angle. * * @param orientationToPack used to pack the orientation of this shape. Modified. */ public final void getOrientation(Orientation3DBasics orientationToPack) { shapePose.getRotation(orientationToPack); }
/** * Rotates this shape by angle of {@code yaw} about the z-axis of this shape local coordinates. * * @param yaw the angle to rotate about the local z-axis. */ public final void appendYawRotation(double yaw) { shapePose.appendYawRotation(yaw); }
/** * Translate this shape with the given {@code translation} that is expressed in the local * coordinates of this shape. * * @param translation the translation to append to the pose of this shape. Not modified. */ public final void appendTranslation(Tuple3DReadOnly translation) { shapePose.appendTranslation(translation); }
public YoGraphic(String name) { this.name = name; objectTransform = new AffineTransform(); }
@Override protected Vector3D getTranslation(QuaternionBasedTransform data) { return (Vector3D) data.getTranslationVector(); }
@Override protected Quaternion getRotation(QuaternionBasedTransform data) { return (Quaternion) data.getQuaternion(); }
public void setTransformFromWorld(AffineTransform transformFromWorld, double time) { synchronized (lidarTransform) { transformFromWorld.getRigidBodyTransform(lidarTransform); this.time = time; } }
/** * Provides a {@code String} representation of this shape pose as follows: <br> * m00, m01, m02 | m03 <br> * m10, m11, m12 | m13 <br> * m20, m21, m22 | m23 * * @return the {@code String} representing this shape pose. */ public String getPoseString() { return shapePose.toString(); }
@Override public void getBodyTransformToWorld(RigidBodyTransform transformToWorld) { transformToWorld.set(pinJointTransformToWorld); } }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.set(mocapHeadPoseInZUp); } };
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.set(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0); } };
/** * Sets the pose, i.e. position and orientation, of this shape. * * @param rigidBodyTransform rigid-body transform holding the new position and orientation for this * shape. Not modified. */ public final void setPose(RigidBodyTransform rigidBodyTransform) { shapePose.set(rigidBodyTransform); }
/** * Sets the pose, i.e. position and orientation, of this shape to the pose of {@code other}. * * @param other shape holding the pose with the new position and orientation for this shape. Not * modified. */ public void setPose(Shape3D<S> other) { shapePose.set(other.shapePose); }
@Override protected void updateTransformToParent(RigidBodyTransform transformToParent) { transformToParent.set(rigidBodyInformationInMocapOrigin); } };
/** * Get the transform from local coordinates to world coordinates. * * @param transformToPack used to store the transform. */ public void getTransformToWorld(RigidBodyTransform transformToPack) { transformToPack.set(fromLocalToWorldTransform); }