How to use

getVector

method

in

us.ihmc.robotics.geometry.FrameVector

@Override
public void setVector(VectorInterface vectorInterface)
{
 vectorInterface.getVector(this.getVector());
}

public void cross(FrameVector vector1, FrameVector vector2)
{
 getFrameTuple().cross(vector1.getVector(), vector2.getVector());
 getYoValuesFromFrameTuple();
}

/**
* Packs a version of the linear velocity, rotated to the base frame.
*/
public void getBodyOriginLinearPartInBaseFrame(FrameVector linearVelocityAtBodyOriginToPack)
{
 linearVelocityAtBodyOriginToPack.setToZero(baseFrame);
 getBodyOriginLinearPartInBaseFrame(linearVelocityAtBodyOriginToPack.getVector());
}

public void correctState(DenseMatrix64F correction)
{
 MatrixTools.extractTuple3dFromEJMLVector(centerOfMassPositionDelta.getVector(), correction, 0);
 updateCenterOfMassPosition(centerOfMassPositionDelta);
}

public void convertToTwist(FrameVector linearVelocityOfOrigin, FrameVector angularVelocity, RigidBody base, Twist twistToPack)
{
 angularVelocity.changeFrame(endEffectorFrame);
 linearVelocityOfOrigin.changeFrame(endEffectorFrame);
 twistToPack.set(endEffectorFrame, base.getBodyFixedFrame(), endEffectorFrame, linearVelocityOfOrigin.getVector(), angularVelocity.getVector());
}

public void setAngularVelocity(FrameVector angularVelocity)
{
 checkReferenceFrameMatch(angularVelocity);
 geometryObject.setAngularVelocity(angularVelocity.getVector());
}

public void getLinearVelocity(FrameVector linearVelocityToPack)
{
 checkReferenceFrameMatch(linearVelocityToPack);
 geometryObject.getLinearVelocity(linearVelocityToPack.getVector());
}

public void getLinearVelocity(FrameVector linearVelocityToPack)
{
 checkReferenceFrameMatch(linearVelocityToPack);
 geometryObject.getLinearVelocity(linearVelocityToPack.getVector());
}

public void getLinearVelocityIncludingFrame(FrameVector linearVelocityToPack)
{
 linearVelocityToPack.setToZero(getReferenceFrame());
 geometryObject.getLinearVelocity(linearVelocityToPack.getVector());
}

/**
* Sets the linear velocity part of the spatial motion vector
*/
public void setLinearPart(FrameVector newLinearVelocity)
{
 expressedInFrame.checkReferenceFrameMatch(newLinearVelocity.getReferenceFrame());
 linearPart.set(newLinearVelocity.getVector());
}

public void setIncludingFrame(FramePoint position, FrameOrientation orientation, FrameVector linearVelocity, FrameVector angularVelocity)
{
 position.checkReferenceFrameMatch(orientation);
 position.checkReferenceFrameMatch(linearVelocity);
 position.checkReferenceFrameMatch(angularVelocity);
 setToZero(position.getReferenceFrame());
 geometryObject.set(position.getPoint(), orientation.getQuaternion(), linearVelocity.getVector(), angularVelocity.getVector());
}

public void setIncludingFrame(double time, FramePoint position, FrameOrientation orientation, FrameVector linearVelocity, FrameVector angularVelocity)
{
 position.checkReferenceFrameMatch(orientation);
 position.checkReferenceFrameMatch(linearVelocity);
 position.checkReferenceFrameMatch(angularVelocity);
 setToZero(position.getReferenceFrame());
 geometryObject.set(time, position.getPoint(), orientation.getQuaternion(), linearVelocity.getVector(), angularVelocity.getVector());
}

public void set(double time, FrameOrientation orientation, FrameVector angularVelocity)
{
 checkReferenceFrameMatch(orientation);
 checkReferenceFrameMatch(angularVelocity);
 geometryObject.set(time, orientation.getQuaternion(), angularVelocity.getVector());
}

public void set(FrameOrientation orientation, FrameVector angularVelocity)
{
 checkReferenceFrameMatch(orientation);
 checkReferenceFrameMatch(angularVelocity);
 geometryObject.set(orientation.getQuaternion(), angularVelocity.getVector());
}

private void computeRootJointAcceleration(FloatingInverseDynamicsJoint rootJoint, SpatialAccelerationVector rootJointAcceleration, FrameVector rootJointAngularAcceleration,
    FrameVector rootJointLinearAcceleration)
{
 rootJointAngularAcceleration.checkReferenceFrameMatch(rootJoint.getFrameAfterJoint());
 rootJointLinearAcceleration.checkReferenceFrameMatch(rootJoint.getFrameAfterJoint());
 rootJointAcceleration.set(rootJoint.getFrameAfterJoint(), rootJoint.getFrameBeforeJoint(), rootJoint.getFrameAfterJoint(),
              rootJointLinearAcceleration.getVector(), rootJointAngularAcceleration.getVector());
}

public void setAngularVelocity(ReferenceFrame bodyFrame, ReferenceFrame baseFrame, FrameVector desiredAngularVelocity)
{
 spatialVelocity.setToZero(bodyFrame, baseFrame, desiredAngularVelocity.getReferenceFrame());
 spatialVelocity.setAngularPart(desiredAngularVelocity.getVector());
 setSelectionMatrixForAngularControl();
}

public void set(FramePoint position, FrameVector linearVelocity)
{
 checkReferenceFrameMatch(position);
 checkReferenceFrameMatch(linearVelocity);
 geometryObject.set(position.getPoint(), linearVelocity.getVector());
}

public void setIncludingFrame(FrameOrientation orientation, FrameVector angularVelocity)
{
 orientation.checkReferenceFrameMatch(angularVelocity);
 setToZero(orientation.getReferenceFrame());
 geometryObject.set(orientation.getQuaternion(), angularVelocity.getVector());
}

private void computeNormalContactVectorRotation(Matrix3d normalContactVectorRotationMatrixToPack)
{
 yoPlaneContactState.getContactNormalFrameVector(contactNormalVector);
 contactNormalVector.changeFrame(planeFrame);
 contactNormalVector.normalize();
 GeometryTools.getAxisAngleFromZUpToVector(contactNormalVector.getVector(), normalContactVectorRotation);
 normalContactVectorRotationMatrixToPack.set(normalContactVectorRotation);
}

public void setIncludingFrame(double time, FramePoint position, FrameVector linearVelocity)
{
 position.checkReferenceFrameMatch(linearVelocity);
 setToZero(position.getReferenceFrame());
 geometryObject.set(time, position.getPoint(), linearVelocity.getVector());
}