Package us.ihmc.euclid.tools

Class TransformationTools

java.lang.Object

us.ihmc.euclid.tools.TransformationTools

public class TransformationTools
extends java.lang.Object

TransformationTools provides a list a methods for transforming geometry objects useful in particular contexts where the result cannot be stored in an object.

Note that in common situations, the use of TransformationTools should be avoided preferring the use of the 'transform' or 'applyTransform' methods provided with the concerned objects. Also note that these methods are possibly more computationally expensive than their respective couterparts.

Author:

Sylvain Bertrand

Constructor Summary

Constructors

Constructor	Description
TransformationTools()

Method Summary

Modifier and Type	Method	Description
static double	computeTransformedX(Matrix3DReadOnly matrix, boolean transpose, double x, double y, double z)	Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedX(Matrix3DReadOnly matrix, boolean transpose, Tuple3DReadOnly tupleOriginal)	Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedX(AffineTransform affineTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the x-coordinate resulting from the transformation of pointOriginal by affineTransform.
static double	computeTransformedX(AffineTransform affineTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by affineTransform.
static double	computeTransformedX(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the x-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.
static double	computeTransformedX(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.
static double	computeTransformedX(RigidBodyTransform rigidBodyTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the x-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.
static double	computeTransformedX(RigidBodyTransform rigidBodyTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.
static double	computeTransformedX(QuaternionReadOnly quaternion, boolean conjugate, double x, double y, double z)	Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by quaternion.
static double	computeTransformedX(QuaternionReadOnly quaternion, boolean conjugate, Tuple3DReadOnly tupleOriginal)	Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by quaternion.
static double	computeTransformedY(Matrix3DReadOnly matrix, boolean transpose, double x, double y, double z)	Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedY(Matrix3DReadOnly matrix, boolean transpose, Tuple3DReadOnly tupleOriginal)	Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedY(AffineTransform affineTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the y-coordinate resulting from the transformation of pointOriginal by affineTransform.
static double	computeTransformedY(AffineTransform affineTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by affineTransform.
static double	computeTransformedY(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the y-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.
static double	computeTransformedY(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.
static double	computeTransformedY(RigidBodyTransform rigidBodyTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the y-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.
static double	computeTransformedY(RigidBodyTransform rigidBodyTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.
static double	computeTransformedY(QuaternionReadOnly quaternion, boolean conjugate, double x, double y, double z)	Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by quaternion.
static double	computeTransformedY(QuaternionReadOnly quaternion, boolean conjugate, Tuple3DReadOnly tupleOriginal)	Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by quaternion.
static double	computeTransformedZ(Matrix3DReadOnly matrix, boolean transpose, double x, double y, double z)	Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedZ(Matrix3DReadOnly matrix, boolean transpose, Tuple3DReadOnly tupleOriginal)	Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by matrix.
static double	computeTransformedZ(AffineTransform affineTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the z-coordinate resulting from the transformation of pointOriginal by affineTransform.
static double	computeTransformedZ(AffineTransform affineTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by affineTransform.
static double	computeTransformedZ(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the z-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.
static double	computeTransformedZ(QuaternionBasedTransform quaternionBasedTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.
static double	computeTransformedZ(RigidBodyTransform rigidBodyTransform, boolean invert, Point3DReadOnly pointOriginal)	Computes and returns the z-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.
static double	computeTransformedZ(RigidBodyTransform rigidBodyTransform, boolean invert, Vector3DReadOnly vectorOriginal)	Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.
static double	computeTransformedZ(QuaternionReadOnly quaternion, boolean conjugate, double x, double y, double z)	Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by quaternion.
static double	computeTransformedZ(QuaternionReadOnly quaternion, boolean conjugate, Tuple3DReadOnly tupleOriginal)	Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by quaternion.

Methods inherited from class java.lang.Object

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

Constructor Detail

TransformationTools

public TransformationTools()

Method Detail

computeTransformedX

public static double computeTransformedX(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(Matrix3DReadOnly matrix,
                                         boolean transpose,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by matrix.

Parameters:

matrix - the matrix used to transform the given tuple. Not modified.

transpose - whether the operation should performed with the transpose of the given matrix or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the x-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the y-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         Tuple3DReadOnly tupleOriginal)

Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

tupleOriginal - the tuple to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(QuaternionReadOnly quaternion,
                                         boolean conjugate,
                                         double x,
                                         double y,
                                         double z)

Computes and returns the z-coordinate resulting from the transformation of tupleOriginal by quaternion.

Parameters:

quaternion - the quaternion used to transform the given tuple. Not modified.

conjugate - whether the operation should performed with the conjugate of the given quaternion or not.

x - the x-coordinate of the tuple to be transformed.

y - the y-coordinate of the tuple to be transformed.

z - the z-coordinate of the tuple to be transformed.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the x-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the y-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the z-coordinate resulting from the transformation of pointOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(RigidBodyTransform rigidBodyTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by rigidBodyTransform.

Parameters:

rigidBodyTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the x-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the y-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the z-coordinate resulting from the transformation of pointOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(QuaternionBasedTransform quaternionBasedTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by quaternionBasedTransform.

Parameters:

quaternionBasedTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(AffineTransform affineTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the x-coordinate resulting from the transformation of pointOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(AffineTransform affineTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the y-coordinate resulting from the transformation of pointOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(AffineTransform affineTransform,
                                         boolean invert,
                                         Point3DReadOnly pointOriginal)

Computes and returns the z-coordinate resulting from the transformation of pointOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given point. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

pointOriginal - the point to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.

computeTransformedX

public static double computeTransformedX(AffineTransform affineTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the x-coordinate resulting from the transformation of vectorOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the x-coordinate resulting from the transformation.

computeTransformedY

public static double computeTransformedY(AffineTransform affineTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the y-coordinate resulting from the transformation of vectorOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the y-coordinate resulting from the transformation.

computeTransformedZ

public static double computeTransformedZ(AffineTransform affineTransform,
                                         boolean invert,
                                         Vector3DReadOnly vectorOriginal)

Computes and returns the z-coordinate resulting from the transformation of vectorOriginal by affineTransform.

Parameters:

affineTransform - the transform used to transform the given vector. Not modified.

invert - whether the operation should performed with the inverse of the given transform or not.

vectorOriginal - the vector to be transformed. Not modified.

Returns:

the z-coordinate resulting from the transformation.