How to use

getUpdatedReferenceFramesCopy

method

in

us.ihmc.humanoidRobotics.communication.subscribers.HumanoidRobotDataReceiver

public void setRequestedBehaviorControlMode(BehaviorControlModeEnum newRequestedControlMode)
{
 if (!this.requestedControlMode.equals(newRequestedControlMode))
 {
   this.requestedControlMode = newRequestedControlMode;
   behaviorStatus.put(newRequestedControlMode, behavior.getBehaviorStatus());
   testFrameTransformToWorld.get(newRequestedControlMode).set(getCurrentTestFrameTransformToWorld());         
   referenceFramesForLogging.put(newRequestedControlMode, robotDataReceiver.getUpdatedReferenceFramesCopy());
 }
}

public void setRequestedBehaviorControlMode(BehaviorControlModeEnum newRequestedControlMode)
{
 if (!this.requestedControlMode.equals(newRequestedControlMode))
 {
   this.requestedControlMode = newRequestedControlMode;
   behaviorStatus.put(newRequestedControlMode, behavior.getBehaviorStatus());
   testFrameTransformToWorld.get(newRequestedControlMode).set(getCurrentTestFrameTransformToWorld());         
   referenceFramesForLogging.put(newRequestedControlMode, robotDataReceiver.getUpdatedReferenceFramesCopy());
 }
}