def planRoomSweep(self):
        self.initConstraintSet()

        faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 0)
        vis.showFrame(faceFrameDesired, 'frame 0', visible=True, scale=0.1,parent=self.mapFolder)
        self.addConstraintForTargetFrame(faceFrameDesired, 0)

        faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 1.0*3.0)
        vis.showFrame(faceFrameDesired, 'frame 1', visible=True, scale=0.1,parent=self.mapFolder)
        self.addConstraintForTargetFrame(faceFrameDesired, 1)

        faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 2.0/3.0)
        vis.showFrame(faceFrameDesired, 'frame 2', visible=True, scale=0.1,parent=self.mapFolder)
        self.addConstraintForTargetFrame(faceFrameDesired, 2)

        faceFrameDesired = transformUtils.frameInterpolate(self.startFrame.transform , self.endFrame.transform, 3.0/3.0)
        vis.showFrame(faceFrameDesired, 'frame 3', visible=True, scale=0.1,parent=self.mapFolder)
        self.addConstraintForTargetFrame(faceFrameDesired, 3)

        #self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedLow
        self.planTrajectory()
        #self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedHigh
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/mappingdemo.py/MappingDemo.planRoomSweep/operator `/` -> `*`