How to use

prependTranslation

method

in

us.ihmc.euclid.geometry.interfaces.Pose3DBasics

/**
* Adds the given {@code translation} to this pose 3D assuming it is expressed in the coordinates in
* which this pose is expressed.
* <p>
* If the {@code translation} is expressed in the local coordinates described by this pose 3D, use
* {@link #appendTranslation(FrameTuple3DReadOnly)}.
* </p>
*
* @param translation tuple containing the translation to apply to this pose 3D. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code translation} are not expressed
*            in the same reference frame.
*/
default void prependTranslation(FrameTuple3DReadOnly translation)
{
 checkReferenceFrameMatch(translation);
 Pose3DBasics.super.prependTranslation(translation);
}

/**
* Adds the given {@code translation} to this pose 3D assuming it is expressed in the coordinates in
* which this pose is expressed.
* <p>
* If the {@code translation} is expressed in the local coordinates described by this pose 3D, use
* {@link #appendTranslation(Tuple3DReadOnly)}.
* </p>
*
* @param translation tuple containing the translation to apply to this pose 3D. Not modified.
*/
default void prependTranslation(Tuple3DReadOnly translation)
{
 prependTranslation(translation.getX(), translation.getY(), translation.getZ());
}