How to use

getReferenceFrame

method

in

us.ihmc.robotics.geometry.FrameLine2d

public FrameLine2d(FrameLine2d frameLine2d)
{
 this(frameLine2d.getReferenceFrame(), new Line2d(frameLine2d.line));
}

@Override
public FramePoint2d intersectionWith(FrameLine2d line)
{
 checkReferenceFrameMatch(line);
 Point2d intersection = this.lineSegment.intersectionWith(line.line);
 if (intersection == null)
 {
   return null;
 }
 return new FramePoint2d(line.getReferenceFrame(), intersection);
}

@Override
public FramePoint2d intersectionWith(FrameLine2d secondLine)
{
 checkReferenceFrameMatch(secondLine);
 Point2d intersection = this.line.intersectionWith(secondLine.line);
 return new FramePoint2d(secondLine.getReferenceFrame(), intersection);
}

/**
* Find the intersection point between this FrameLineSegment2d and the argument FrameLine2d and store it in the FramePoint2d argument.
* @param intersectionPointToPack argument in which the intersect point is stored
* @param line used to find the intersection with this line segment
* @return true if successful, false otherwise.
*/
public boolean intersectionWith(FramePoint2d intersectionPointToPack, FrameLine2d line)
{
 checkReferenceFrameMatch(line);
 Point2d intersection = this.lineSegment.intersectionWith(line.line);
 if (intersection == null)
   return false;
 intersectionPointToPack.setIncludingFrame(line.getReferenceFrame(), intersection);
 return true;
}