How to use

getReferenceFrame

method

in

us.ihmc.robotics.geometry.FrameLineSegment2d

public FrameLineSegment2d(FrameLineSegment2d frameLineSegment2d)
{
 this(frameLineSegment2d.getReferenceFrame(), new LineSegment2d(frameLineSegment2d.lineSegment));
}

@Override
public FramePoint2d intersectionWith(FrameLineSegment2d lineSegment)
{
 checkReferenceFrameMatch(lineSegment);
 Point2d intersection = this.line.intersectionWith(lineSegment.lineSegment);
 return new FramePoint2d(lineSegment.getReferenceFrame(), intersection);
}

@Override
public FramePoint2d intersectionWith(FrameLineSegment2d secondLineSegment)
{
 checkReferenceFrameMatch(secondLineSegment);
 Point2d intersection = this.lineSegment.intersectionWith(secondLineSegment.lineSegment);
 if (intersection == null)
 {
   return null;
 }
 return new FramePoint2d(secondLineSegment.getReferenceFrame(), intersection);
}