How to use

getOrientationInWorldFrame

method

in

us.ihmc.humanoidRobotics.footstep.Footstep

public AdjustFootstepMessage(Footstep footstep)
{
 uniqueId = VALID_MESSAGE_DEFAULT_ID;
 origin = FootstepOrigin.AT_ANKLE_FRAME;
 robotSide = footstep.getRobotSide();
 location = new Point3d();
 orientation = new Quat4d();
 footstep.getPositionInWorldFrame(location);
 footstep.getOrientationInWorldFrame(orientation);
 List<Point2d> footstepContactPoints = footstep.getPredictedContactPoints();
 if (footstepContactPoints != null)
 {
   if (predictedContactPoints == null)
   {
    predictedContactPoints = new ArrayList<>();
   }
   else
   {
    predictedContactPoints.clear();
   }
   for (Point2d contactPoint : footstepContactPoints)
   {
    predictedContactPoints.add((Point2d) contactPoint.clone());
   }
 }
 else
 {
   predictedContactPoints = null;
 }
}

orientation = new Quat4d();
footstep.getPositionInWorldFrame(location);
footstep.getOrientationInWorldFrame(orientation);

  private void printFootstepConstructor(Footstep footstep)
  {
   RobotSide robotSide = footstep.getRobotSide();
   Point3d position = new Point3d();
   footstep.getPositionInWorldFrame(position);
   Quat4d orientation = new Quat4d();
   footstep.getOrientationInWorldFrame(orientation);

   System.out.println("footsteps.add(footstepProviderTestHelper.createFootstep(RobotSide." + robotSide + ", new Point3d(" + position.getX() + ", "
      + position.getY() + ", " + position.getZ() + "), new Quat4d(" + orientation.getW() + ", " + orientation.getX() + ", " + orientation.getY() + ", "
      + orientation.getZ() + ")));");
  }
}