MovingZUpFrame frameOne = new MovingZUpFrame(nonZUpFrameOne, nonZUpFrameOne.getName() + "ZUp"); MovingZUpFrame frameTwo = new MovingZUpFrame(nonZUpFrameTwo, nonZUpFrameTwo.getName() + "ZUp");
MovingZUpFrame frameOne = new MovingZUpFrame(nonZUpFrameOne, nonZUpFrameOne.getName() + "ZUp"); MovingZUpFrame frameTwo = new MovingZUpFrame(nonZUpFrameTwo, nonZUpFrameTwo.getName() + "ZUp");
MovingZUpFrame zupFrameAfterJoint = new MovingZUpFrame(frameAfterJoint, frameAfterJoint.getName() + "ZUp");
MovingReferenceFrame frameTwo = createMovingReferenceFrame("frameTwo", worldFrame, random, timeProvider); MovingReferenceFrame pelvisFrame = createMovingReferenceFrame("pelvisFrame", worldFrame, random, timeProvider); MovingZUpFrame frameOneZUp = new MovingZUpFrame(frameOne, frameOne.getName() + "ZUp"); MovingZUpFrame frameTwoZUp = new MovingZUpFrame(frameTwo, frameTwo.getName() + "ZUp"); MovingMidFootZUpGroundFrame midFootZUpGroundFrame = new MovingMidFootZUpGroundFrame("midFootZUp", frameOneZUp, frameTwoZUp); MovingWalkingReferenceFrame walkingReferenceFrame = new MovingWalkingReferenceFrame("walkingFrame", pelvisFrame, midFootZUpGroundFrame);
MovingZUpFrame movingZUpFrameAfterJoint = new MovingZUpFrame(frameAfterJoint, frameAfterJoint.getName() + "ZUp");
MovingZUpFrame zUpFrame = new MovingZUpFrame(randomMovingFrame, "blopButZUp");
MovingZUpFrame zUpFrame = new MovingZUpFrame(randomMovingFrame, "blopButZUp");
pelvisZUpFrame = new MovingZUpFrame(pelvisFrame, "pelvisZUpFrame"); footReferenceFrames.put(robotSide, footFrame); MovingZUpFrame ankleZUpFrame = new MovingZUpFrame(footFrame, robotSide.getCamelCaseNameForStartOfExpression() + "AnkleZUp"); ankleZUpFrames.put(robotSide, ankleZUpFrame); if (handFrame != null) MovingZUpFrame handZUpFrame = new MovingZUpFrame(handFrame, robotSide.getCamelCaseNameForStartOfExpression() + "HandZUp"); handZUpFrames.put(robotSide, handZUpFrame); soleFrames.put(robotSide, soleFrame); MovingZUpFrame soleZUpFrame = new MovingZUpFrame(soleFrame, soleFrame.getName() + "ZUp"); localSoleZUpFrames.put(robotSide, soleZUpFrame); soleZUpFrames.put(robotSide, soleZUpFrame);