public static Se3_F64 planeToWorld ( PlaneGeneral3D_F64 plane , Se3_F64 planeToWorld ) { if ( planeToWorld == null ) planeToWorld = new Se3_F64 ( ) ; Vector3D_F64 axisZ = new Vector3D_F64 ( plane . A , plane . B , plane . C ) ; axisZ . normalize ( ) ; Vector3D_F64 axisX = new Vector3D_F64 ( ) ; Vector3D_F64 axisY = new Vector3D_F64 ( ) ; UtilPlane3D_F64 . selectAxis2D ( axisZ , axisX , axisY ) ; return planeToWorld ( plane , axisX , axisY , axisZ , planeToWorld ) ; }
Creates a transform from the plane s reference frame into world s reference frame . The z - axis is set to the plane s normal and the x - axis and y - axis are arbitrarily choosen . Points which lie along the plane will lie along its x - y plane .