private RateLimitedYoFramePose(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider maxRate, double dt, FramePose3DReadOnly rawPose, ReferenceFrame referenceFrame) { if (rawPose != null) { this.position = new RateLimitedYoFramePoint(namePrefix, "Position" + nameSuffix, registry, maxRate, dt, rawPose.getPosition()); this.orientation = new RateLimitedYoFrameQuaternion(namePrefix, "Orientation" + nameSuffix, registry, maxRate, dt, rawPose.getOrientation()); } else { this.position = new RateLimitedYoFramePoint(namePrefix, "Position" + nameSuffix, registry, maxRate, dt, referenceFrame); this.orientation = new RateLimitedYoFrameQuaternion(namePrefix, "Orientation" + nameSuffix, registry, maxRate, dt, referenceFrame); } reset(); }