transformToModel.multiply(link.getTransformFromModelReferenceFrame());
link.getTransformFromModelReferenceFrame().transform(gcOffset); addSimulationContactPoint(joint.getName(), gcOffset); link.getTransformFromModelReferenceFrame().transform(gcOffset); boolean assigned = false;
link.getTransformFromModelReferenceFrame().transform(gcOffset); addSimulationContactPoint(joint.getName(), gcOffset); link.getTransformFromModelReferenceFrame().transform(gcOffset); boolean assigned = false;
RigidBodyTransform linkRotation = new RigidBodyTransform(child.getTransformFromModelReferenceFrame()); linkRotation.setTranslation(0.0, 0.0, 0.0); RigidBodyTransform linkToSensorInZUp = new RigidBodyTransform();
transformToModel.multiply(link.getTransformFromModelReferenceFrame()); transformToModel.multiply(ModelFileLoaderConversionsHelper.poseToTransform(col.getPose()));
RigidBodyTransform linkRotation = new RigidBodyTransform(child.getTransformFromModelReferenceFrame()); linkRotation.setTranslation(0.0, 0.0, 0.0); RigidBodyTransform linkToSensor = ModelFileLoaderConversionsHelper.poseToTransform(sensor.getPose());
RigidBodyTransform linkRotation = new RigidBodyTransform(child.getTransformFromModelReferenceFrame()); linkRotation.setTranslation(0.0, 0.0, 0.0); RigidBodyTransform linkToSensorInZUp = new RigidBodyTransform();
RigidBodyTransform modelToParentLink = getParentLinkHolder().getTransformFromModelReferenceFrame(); RigidBodyTransform modelToChildLink = getChildLinkHolder().getTransformFromModelReferenceFrame();