Package us.ihmc.euclid.tools

Class EuclidCoreIOTools

java.lang.Object

us.ihmc.euclid.tools.EuclidCoreIOTools

public abstract class EuclidCoreIOTools
extends java.lang.Object

EuclidCoreIOTools is intended to gather the input & output tools for printing, saving, and loading geometry objects.

At this time, only a few print tools are offered, additional features will come in future releases.

Author:

Sylvain Bertrand

Field Summary

Fields

Modifier and Type	Field	Description
static java.lang.String	DEFAULT_FORMAT	Default format used to print decimal numbers.

Constructor Summary

Constructors

Constructor	Description
EuclidCoreIOTools()

Method Summary

Modifier and Type	Method	Description
static java.lang.String	getAffineTransformString(java.lang.String format, AffineTransform affineTransform)	Gets a representative String of affineTransform given a specific format to use.
static java.lang.String	getAffineTransformString(AffineTransform affineTransform)	Gets a representative String of affineTransform as follows:
static java.lang.String	getAxisAngleString(java.lang.String format, AxisAngleReadOnly axisAngle)	Gets a representative String of axisAngle given a specific format to use.
static java.lang.String	getAxisAngleString(AxisAngleReadOnly axisAngle)	Gets a representative String of axisAngle as follows:
static java.lang.String	getMatrixString(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)	Gets a representative String of matrix as follows:
static java.lang.String	getMatrixString(java.lang.String format, double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22)	Gets a representative String of matrix given a specific format to use.
static java.lang.String	getMatrixString(java.lang.String format, Matrix3DReadOnly matrix)	Gets a representative String of matrix given a specific format to use.
static java.lang.String	getMatrixString(Matrix3DReadOnly matrix)	Gets a representative String of matrix as follows:
static java.lang.String	getQuaternionBasedTransformString(java.lang.String format, QuaternionBasedTransform quaternionBasedTransform)	Gets a representative String of quaternionBasedTransform given a specific format to use.
static java.lang.String	getQuaternionBasedTransformString(QuaternionBasedTransform quaternionBasedTransform)	Gets a representative String of quaternionBasedTransform as follows:
static java.lang.String	getRigidBodyTransformString(java.lang.String format, RigidBodyTransform rigidBodyTransform)	Gets a representative String of rigidBodyTransform given a specific format to use.
static java.lang.String	getRigidBodyTransformString(RigidBodyTransform rigidBodyTransform)	Gets a representative String of rigidBodyTransform as follows:
static java.lang.String	getStringFormat(int numberOfChar, int precision)	Gets the String for formatting decimal numbers.
static java.lang.String	getStringOf(java.lang.String separator, java.lang.String format, double... values)	Gets a representative String of a series of doubles given specific prefix, suffix, separator, and format to use.
static java.lang.String	getStringOf(java.lang.String prefix, java.lang.String suffix, java.lang.String separator, double... values)	Gets a representative String of a series of doubles given specific prefix, suffix, and separator.
static java.lang.String	getStringOf(java.lang.String prefix, java.lang.String suffix, java.lang.String separator, java.lang.String format, double... values)	Gets a representative String of a series of doubles given specific prefix, suffix, separator, and format to use.
static java.lang.String	getTuple2DString(java.lang.String format, Tuple2DReadOnly tuple)	Gets a representative String of tuple given a specific format to use.
static java.lang.String	getTuple2DString(Tuple2DReadOnly tuple)	Gets a representative String of tuple as follows:
static java.lang.String	getTuple3DString(java.lang.String format, Tuple3DReadOnly tuple)	Gets a representative String of tuple given a specific format to use.
static java.lang.String	getTuple3DString(Tuple3DReadOnly tuple)	Gets a representative String of tuple as follows:
static java.lang.String	getTuple4DString(java.lang.String format, Tuple4DReadOnly tuple)	Gets a representative String of tuple given a specific format to use.
static java.lang.String	getTuple4DString(Tuple4DReadOnly tuple)	Gets a representative String of tuple as follows:

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEFAULT_FORMAT

public static final java.lang.String DEFAULT_FORMAT

Default format used to print decimal numbers.

Constructor Detail

EuclidCoreIOTools

public EuclidCoreIOTools()

Method Detail

getRigidBodyTransformString

public static java.lang.String getRigidBodyTransformString(RigidBodyTransform rigidBodyTransform)

Gets a representative String of rigidBodyTransform as follows:

  0.596  0.630  0.930 | -0.435
 -0.264  0.763  0.575 | -0.464
 -0.430 -0.188 -0.048 |  0.611
  0.000  0.000  0.000 |  1.000
 

Parameters:

rigidBodyTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getRigidBodyTransformString

public static java.lang.String getRigidBodyTransformString(java.lang.String format,
                                                           RigidBodyTransform rigidBodyTransform)

Gets a representative String of rigidBodyTransform given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

  0.596  0.630  0.930 | -0.435
 -0.264  0.763  0.575 | -0.464
 -0.430 -0.188 -0.048 |  0.611
  0.000  0.000  0.000 |  1.000
 

Parameters:

format - the format to use for each number.

rigidBodyTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getAffineTransformString

public static java.lang.String getAffineTransformString(AffineTransform affineTransform)

Gets a representative String of affineTransform as follows:

  0.596  0.630  0.930 | -0.435
 -0.264  0.763  0.575 | -0.464
 -0.430 -0.188 -0.048 |  0.611
  0.000  0.000  0.000 |  1.000
 

Parameters:

affineTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getAffineTransformString

public static java.lang.String getAffineTransformString(java.lang.String format,
                                                        AffineTransform affineTransform)

Gets a representative String of affineTransform given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

  0.596  0.630  0.930 | -0.435
 -0.264  0.763  0.575 | -0.464
 -0.430 -0.188 -0.048 |  0.611
  0.000  0.000  0.000 |  1.000
 

Parameters:

format - the format to use for each number.

affineTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getQuaternionBasedTransformString

public static java.lang.String getQuaternionBasedTransformString(QuaternionBasedTransform quaternionBasedTransform)

Gets a representative String of quaternionBasedTransform as follows:

 Quaternion:  ( 0.174,  0.732, -0.222,  0.620 )
 Translation: (-0.558, -0.380,  0.130 )
 

Parameters:

quaternionBasedTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getQuaternionBasedTransformString

public static java.lang.String getQuaternionBasedTransformString(java.lang.String format,
                                                                 QuaternionBasedTransform quaternionBasedTransform)

Gets a representative String of quaternionBasedTransform given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 Quaternion:  ( 0.174,  0.732, -0.222,  0.620 )
 Translation: (-0.558, -0.380,  0.130 )
 

Parameters:

format - the format to use for each number.

quaternionBasedTransform - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple2DString

public static java.lang.String getTuple2DString(Tuple2DReadOnly tuple)

Gets a representative String of tuple as follows:

 (-0.675, -0.102 )
 

Parameters:

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple2DString

public static java.lang.String getTuple2DString(java.lang.String format,
                                                Tuple2DReadOnly tuple)

Gets a representative String of tuple given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 (-0.675, -0.102 )
 

Parameters:

format - the format to use for each number.

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple3DString

public static java.lang.String getTuple3DString(Tuple3DReadOnly tuple)

Gets a representative String of tuple as follows:

 (-0.558, -0.380,  0.130 )
 

Parameters:

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple3DString

public static java.lang.String getTuple3DString(java.lang.String format,
                                                Tuple3DReadOnly tuple)

Gets a representative String of tuple given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 (-0.558, -0.380,  0.130 )
 

Parameters:

format - the format to use for each number.

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple4DString

public static java.lang.String getTuple4DString(Tuple4DReadOnly tuple)

Gets a representative String of tuple as follows:

 (-0.052, -0.173, -0.371,  0.087 )
 

Parameters:

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getTuple4DString

public static java.lang.String getTuple4DString(java.lang.String format,
                                                Tuple4DReadOnly tuple)

Gets a representative String of tuple given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 (-0.052, -0.173, -0.371,  0.087 )
 

Parameters:

format - the format to use for each number.

tuple - the object to get the String of. Not modified.

Returns:

the representative String.

getAxisAngleString

public static java.lang.String getAxisAngleString(AxisAngleReadOnly axisAngle)

Gets a representative String of axisAngle as follows:

 ( 0.674,  0.455,  0.582,  0.593 )
 

Parameters:

axisAngle - the object to get the String of. Not modified.

Returns:

the representative String.

getAxisAngleString

public static java.lang.String getAxisAngleString(java.lang.String format,
                                                  AxisAngleReadOnly axisAngle)

Gets a representative String of axisAngle given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 ( 0.674,  0.455,  0.582,  0.593 )
 

Parameters:

format - the format to use for each number.

axisAngle - the object to get the String of. Not modified.

Returns:

the representative String.

getMatrixString

public static java.lang.String getMatrixString(Matrix3DReadOnly matrix)

Gets a representative String of matrix as follows:

 /-0.576, -0.784,  0.949 \
 | 0.649, -0.542, -0.941 |
 \-0.486, -0.502, -0.619 /
 

Parameters:

matrix - the object to get the String of. Not modified.

Returns:

the representative String.

getMatrixString

public static java.lang.String getMatrixString(java.lang.String format,
                                               Matrix3DReadOnly matrix)

Gets a representative String of matrix given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 /-0.576, -0.784,  0.949 \
 | 0.649, -0.542, -0.941 |
 \-0.486, -0.502, -0.619 /
 

Parameters:

format - the format to use for each number.

matrix - the object to get the String of. Not modified.

Returns:

the representative String.

getMatrixString

public static java.lang.String getMatrixString(double m00,
                                               double m01,
                                               double m02,
                                               double m10,
                                               double m11,
                                               double m12,
                                               double m20,
                                               double m21,
                                               double m22)

Gets a representative String of matrix as follows:

 /-0.576, -0.784,  0.949 \
 | 0.649, -0.542, -0.941 |
 \-0.486, -0.502, -0.619 /
 

Parameters:

m00 - the 1st row 1st column coefficient of the matrix.

m01 - the 1st row 2nd column coefficient of the matrix.

m02 - the 1st row 3rd column coefficient of the matrix.

m10 - the 2nd row 1st column coefficient of the matrix.

m11 - the 2nd row 2nd column coefficient of the matrix.

m12 - the 2nd row 3rd column coefficient of the matrix.

m20 - the 3rd row 1st column coefficient of the matrix.

m21 - the 3rd row 2nd column coefficient of the matrix.

m22 - the 3rd row 3rd column coefficient of the matrix.

Returns:

the representative String.

getMatrixString

public static java.lang.String getMatrixString(java.lang.String format,
                                               double m00,
                                               double m01,
                                               double m02,
                                               double m10,
                                               double m11,
                                               double m12,
                                               double m20,
                                               double m21,
                                               double m22)

Gets a representative String of matrix given a specific format to use.

Using the default format DEFAULT_FORMAT, this provides a String as follows:

 /-0.576, -0.784,  0.949 \
 | 0.649, -0.542, -0.941 |
 \-0.486, -0.502, -0.619 /
 

Parameters:

format - the format to use for each number.

m00 - the 1st row 1st column coefficient of the matrix.

m01 - the 1st row 2nd column coefficient of the matrix.

m02 - the 1st row 3rd column coefficient of the matrix.

m10 - the 2nd row 1st column coefficient of the matrix.

m11 - the 2nd row 2nd column coefficient of the matrix.

m12 - the 2nd row 3rd column coefficient of the matrix.

m20 - the 3rd row 1st column coefficient of the matrix.

m21 - the 3rd row 2nd column coefficient of the matrix.

m22 - the 3rd row 3rd column coefficient of the matrix.

Returns:

the representative String.

getStringOf

public static java.lang.String getStringOf(java.lang.String prefix,
                                           java.lang.String suffix,
                                           java.lang.String separator,
                                           double... values)

Gets a representative String of a series of doubles given specific prefix, suffix, and separator.

Using prefix = "(", suffix = ")", and separator = ", ", this provides a String as follows:

 ( 0.123, -0.480,  1.457)
 

Parameters:

prefix - the String to prepend to the result.

suffix - the String to append to the result.

separator - the String to insert between two values.

values - the values to get the String of.

Returns:

the representative String.

getStringOf

public static java.lang.String getStringOf(java.lang.String prefix,
                                           java.lang.String suffix,
                                           java.lang.String separator,
                                           java.lang.String format,
                                           double... values)

Gets a representative String of a series of doubles given specific prefix, suffix, separator, and format to use.

Using the default format DEFAULT_FORMAT, prefix = "(", suffix = ")", and separator = ", ", this provides a String as follows:

 ( 0.123, -0.480,  1.457)
 

Parameters:

prefix - the String to prepend to the result.

suffix - the String to append to the result.

separator - the String to insert between two values.

format - the format to use for each number.

values - the values to get the String of.

Returns:

the representative String.

getStringOf

public static java.lang.String getStringOf(java.lang.String separator,
                                           java.lang.String format,
                                           double... values)

Gets a representative String of a series of doubles given specific prefix, suffix, separator, and format to use.

Using the default format DEFAULT_FORMAT and separator = ", ", this provides a String as follows:

  0.123, -0.480,  1.457
 

Parameters:

separator - the String to insert between two values.

format - the format to use for each number.

values - the values to get the String of.

Returns:

the representative String.

getStringFormat

public static java.lang.String getStringFormat(int numberOfChar,
                                               int precision)

Gets the String for formatting decimal numbers.

Parameters:

numberOfChar - the number of character to print.

precision - the precision of the output.

Returns:

the formatting String.