Java FramePose2d.setY Examples

Example #1

File: DRCWalkToGoalBehaviorTest.java Project: ihmcrobotics/ihmc-open-robotics-software

  private FramePose2d offsetMidFeetPose2d(
      FramePose2d initialPose, double walkDistance, Vector2d walkDirection) {
    FramePose2d ret = new FramePose2d(initialPose);

    walkDirection.normalize();
    ret.setX(initialPose.getX() + walkDistance * walkDirection.getX());
    ret.setY(initialPose.getY() + walkDistance * walkDirection.getY());

    return ret;
  }