us.ihmc.simulationconstructionset.simulatedSensors.AbstractSimulatedSensor Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset.simulatedSensors;

import us.ihmc.euclid.transform.RigidBodyTransform;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.jMonkeyEngineToolkit.Graphics3DAdapter;
import us.ihmc.simulationconstructionset.SimulatedSensor;

public abstract class AbstractSimulatedSensor implements SimulatedSensor
{
   protected RigidBodyTransform transformToHere = new RigidBodyTransform();
   protected RigidBodyTransform transformFromJoint = new RigidBodyTransform();
   protected Graphics3DAdapter graphics3dAdapter;
   protected boolean dataIsLocked;

   @Override
   public void setWorld(Graphics3DAdapter graphics3dAdapter)
   {
      this.graphics3dAdapter = graphics3dAdapter;
   }

   @Override
   public void updateTransform(RigidBodyTransformReadOnly transformToHere, double time)
   {
      this.transformToHere.set(transformToHere);
      this.transformToHere.multiply(transformFromJoint);
   }
}