How to use

constructFrameWithUnchangingTransformToParent

method

in

us.ihmc.euclid.referenceFrame.tools.ReferenceFrameTools

  /**
  * Use
  * {@link ReferenceFrameTools#constructFrameWithUnchangingTransformToParent(String, ReferenceFrame, RigidBodyTransform)}
  * instead.
  */
  @Deprecated
  public static ReferenceFrame constructFrameWithUnchangingTransformToParent(String frameName, ReferenceFrame parentFrame,
                                       RigidBodyTransform transformToParent)
  {
   return ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parentFrame, transformToParent);
  }
}

/**
* Creates a reference frame with an immutable transform from its parent.
* <p>
* The {@code transformFromParent} should describe the pose of the parent frame expressed in this
* new frame.
* </p>
*
* @param frameName the name of the new frame.
* @param parentFrame the parent frame of the new reference frame.
* @param transformFromParent the transform that can be used to transform a geometry object from the
*           parent frame to this frame. Not modified.
* @return the new reference frame.
*/
public static ReferenceFrame constructFrameWithUnchangingTransformFromParent(String frameName, ReferenceFrame parentFrame,
                                      RigidBodyTransform transformFromParent)
{
 RigidBodyTransform transformToParent = new RigidBodyTransform(transformFromParent);
 transformToParent.invert();
 return constructFrameWithUnchangingTransformToParent(frameName, parentFrame, transformToParent);
}

/**
* Creates a reference frame with an immutable translation offset from its parent.
* <p>
* The new reference frame has the same orientation as its parent frame.
* </p>
*
* @param frameName the name of the new frame.
* @param parentFrame the parent frame of the new reference frame.
* @param translationOffsetFromParent describes the position of the new reference frame's origin
*           expressed in the parent frame. Not modified.
* @return the new reference frame.
*/
public static ReferenceFrame constructFrameWithUnchangingTranslationFromParent(String frameName, ReferenceFrame parentFrame,
                                       Tuple3DReadOnly translationOffsetFromParent)
{
 RigidBodyTransform transformToParent = new RigidBodyTransform();
 transformToParent.setTranslation(translationOffsetFromParent);
 return constructFrameWithUnchangingTransformToParent(frameName, parentFrame, transformToParent);
}

intermediateFrames[dofIndex] = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parentFrame, identity);

intermediateFrames[dofIndex] = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parentFrame, identity);

intermediateFrames[dofIndex] = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parentFrame, identity);

@Ignore
@Test
public void testUniqueNaming()
{
 Random random = new Random(13L);
 ReferenceFrame someFrame = EuclidFrameRandomTools.nextReferenceFrame(random);
 String frameName = someFrame.getName();
 ReferenceFrame parent = someFrame.getParent();
 try
 {
   ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
   fail("Should have thrown a RuntimeException");
 }
 catch (RuntimeException e)
 {
   // good
 }
 ReferenceFrameTools.removeFrame(someFrame);
 someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
 someFrame.remove();
 someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
 ReferenceFrameTools.clearFrameTree(someFrame);
 someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
 ReferenceFrameTools.clearWorldFrameTree();
 ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform());
}

referenceFrames.add(ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("blop1Bis", ReferenceFrame.getWorldFrame(), randomTransform));
referenceFrames.add(ReferenceFrame.getWorldFrame());
referenceFrames.add(ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("blop1", ReferenceFrame.getWorldFrame(), randomTransform));
referenceFrames.add(EuclidFrameRandomTools.nextReferenceFrame("blop2", random, ReferenceFrame.getWorldFrame()));

FrameQuaternion c1_orientation = EuclidFrameRandomTools.nextFrameQuaternion(random, bodyFrame);
RigidBodyTransform c1ToBody = new RigidBodyTransform(c1_orientation, c1_origin);
ReferenceFrame c1 = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("c1", bodyFrame, c1ToBody);
FramePoint3D c2_origin = EuclidFrameRandomTools.nextFramePoint3D(random, bodyFrame);
FrameQuaternion c2_orientation = EuclidFrameRandomTools.nextFrameQuaternion(random, bodyFrame);
RigidBodyTransform c2ToBody = new RigidBodyTransform(c2_orientation, c2_origin);
ReferenceFrame c2 = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("c2", bodyFrame, c2ToBody);
ReferenceFrame c2_d = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("c2_d", c1_d, c2c1);

ReferenceFrame constantFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent("constant" + i, world, expected);