/** * Sets the selection frame such that the selection of the axes of interest now refers to the * axes of the given frame for both the angular and linear parts. * * @param selectionFrame the new frame to which the axes selection is referring to. */ public void setSelectionFrame(ReferenceFrame selectionFrame) { setSelectionFrames(selectionFrame, selectionFrame); }
selectionMatrix6D.setSelectionFrames(angularSelectionFrame, linearSelectionFrame); message.getAngularSelectionMatrix().set(MessageTools.createSelectionMatrix3DMessage(selectionMatrix6D.getAngularPart())); message.getLinearSelectionMatrix().set(MessageTools.createSelectionMatrix3DMessage(selectionMatrix6D.getLinearPart()));
@Override public void set(ReferenceFrameHashCodeResolver resolver, SE3TrajectoryMessage message) { FrameInformation frameInformation = message.getFrameInformation(); long trajectoryFrameId = frameInformation.getTrajectoryReferenceFrameId(); long dataFrameId = HumanoidMessageTools.getDataFrameIDConsideringDefault(frameInformation); this.trajectoryFrame = resolver.getReferenceFrameFromHashCode(trajectoryFrameId); ReferenceFrame dataFrame = resolver.getReferenceFrameFromHashCode(dataFrameId); clear(dataFrame); setFromMessage(message); ReferenceFrame angularSelectionFrame = resolver.getReferenceFrameFromHashCode(message.getAngularSelectionMatrix().getSelectionFrameId()); ReferenceFrame linearSelectionFrame = resolver.getReferenceFrameFromHashCode(message.getLinearSelectionMatrix().getSelectionFrameId()); selectionMatrix.setSelectionFrames(angularSelectionFrame, linearSelectionFrame); ReferenceFrame angularWeightFrame = resolver.getReferenceFrameFromHashCode(message.getAngularWeightMatrix().getWeightFrameId()); ReferenceFrame linearWeightFrame = resolver.getReferenceFrameFromHashCode(message.getLinearWeightMatrix().getWeightFrameId()); weightMatrix.setWeightFrames(angularWeightFrame, linearWeightFrame); }
selectionMatrix.setSelectionFrames(angularSelectionFrame, linearSelectionFrame); ReferenceFrame angularWeightFrame = referenceFrameResolver.getReferenceFrameFromHashCode(angularWeight.getWeightFrameId()); ReferenceFrame linearWeightFrame = referenceFrameResolver.getReferenceFrameFromHashCode(linearWeight.getWeightFrameId());
selectionMatrix.setSelectionFrames(angularSelectionFrame, linearSelectionFrame); ReferenceFrame angularWeightFrame = referenceFrameResolver.getReferenceFrameFromHashCode(angularWeight.getWeightFrameId()); ReferenceFrame linearWeightFrame = referenceFrameResolver.getReferenceFrameFromHashCode(linearWeight.getWeightFrameId());