public void getPosition(FixedFramePoint3DBasics positionToPack) { positionToPack.set(position); }
/** * Changes the second endpoint of this line segment. * * @param secondEndpoint new second endpoint of this line segment. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code secondEndpoint} are not * expressed in the same reference frame. */ default void setSecondEndpoint(FramePoint3DReadOnly secondEndpoint) { getSecondEndpoint().set(secondEndpoint); }
/** * Changes the first endpoint of this line segment. * * @param firstEndpoint new endpoint of this line segment. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code firstEndpoint} are not * expressed in the same reference frame. */ default void setFirstEndpoint(FramePoint3DReadOnly firstEndpoint) { getFirstEndpoint().set(firstEndpoint); }
private FramePose3DReadOnly adjustFootstep(FramePose2DReadOnly footstepPose, RobotSide footSide) adjustedBasedOnStanceFoot.getPosition().set(footstepPose.getPosition()); adjustedBasedOnStanceFoot.setZ(continuousStepGenerator.getCurrentSupportFootPose().getZ()); adjustedBasedOnStanceFoot.setOrientation(footstepPose.getOrientation());