public static PlaneNormal3D_F64 convert ( Se3_F64 planeToWorld , PlaneNormal3D_F64 output ) { if ( output == null ) output = new PlaneNormal3D_F64 ( ) ; // the value of input is a vector normal to the plane and a point on the plane. output . n . x = planeToWorld . R . unsafe_get ( 0 , 2 ) ; output . n . y = planeToWorld . R . unsafe_get ( 1 , 2 ) ; output . n . z = planeToWorld . R . unsafe_get ( 2 , 2 ) ; output . p . set ( planeToWorld . T . x , planeToWorld . T . y , planeToWorld . T . z ) ; return output ; }
Defines a plane using a 3D rigid body transform . + z is the 3rd column the rotation matrix . The plane s point is the translation . The plane reference frame is the x - y plane .