Package us.ihmc.euclid.tuple2D.interfaces

Interface Point2DBasics

All Superinterfaces:

Clearable, Point2DReadOnly, Transformable, Tuple2DBasics, Tuple2DReadOnly

All Known Implementing Classes:

Point2D, Point2D32

public interface Point2DBasics
extends Tuple2DBasics, Point2DReadOnly

Write and read interface for a 2 dimensional point.

A 2D point represents the 2D coordinates of a location on the XY-plane.

Although a point and vector hold onto the same type of information, the distinction is made between them as they represent different geometry objects and are typically not handled the same way:

• a point represents the coordinate of a location in space. A notable difference with a vector is that the distance between two points has a physical meaning. When a point is transformed with a homogeneous transformation matrix, a point's coordinates are susceptible to be scaled, rotated, and translated.
• a vector is not constrained to a location in space. Instead, a vector represents some physical quantity that has a direction and a magnitude such as: a velocity, a force, the translation from one point to another, etc. When a vector is transformed with a homogeneous transformation matrix, its components are susceptible to be scaled and rotated, but never to be translated.

Author:

Sylvain Bertrand

Method Summary

Modifier and Type	Method	Description
default void	applyInverseTransform(Transform transform)	Transforms this point by the inverse of the given transform.
default void	applyInverseTransform(Transform transform, boolean checkIfTransformInXYplane)	Transforms this point by the inverse of the given transform.
default void	applyTransform(Transform transform)	Transforms this point by the given transform.
default void	applyTransform(Transform transform, boolean checkIfTransformInXYPlane)	Transforms this point by the given transform.

Methods inherited from interface us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly

distance, distanceFromOrigin, distanceFromOriginSquared, distanceSquared, distanceXY, distanceXYSquared, geometricallyEquals

Methods inherited from interface us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics

absolute, add, add, add, addX, addY, clipToMax, clipToMin, clipToMinMax, containsNaN, interpolate, interpolate, negate, scale, scale, scaleAdd, scaleAdd, scaleSub, scaleSub, set, set, set, set, set, set, set, set, set, set, setAndAbsolute, setAndClipToMax, setAndClipToMin, setAndClipToMinMax, setAndNegate, setAndScale, setElement, setToNaN, setToZero, setX, setY, sub, sub, sub, subX, subY

Methods inherited from interface us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly

epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getX, getX32, getY, getY32

Method Detail

applyTransform

default void applyTransform(Transform transform)

Transforms this point by the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyTransform in interface Transformable

Specified by:

applyTransform in interface Tuple2DBasics

Parameters:

transform - the geometric transform to apply on this point. Not modified.

Throws:

NotAMatrix2DException - if the rotation part of transform is not a transformation in the XY plane.

applyTransform

default void applyTransform(Transform transform,
                            boolean checkIfTransformInXYPlane)

Transforms this point by the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyTransform in interface Tuple2DBasics

Parameters:

transform - the geometric transform to apply on this point. Not modified.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the given transform represents a transformation in the XY plane.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and the rotation part of transform is not a transformation in the XY plane.

applyInverseTransform

default void applyInverseTransform(Transform transform)

Transforms this point by the inverse of the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyInverseTransform in interface Transformable

Specified by:

applyInverseTransform in interface Tuple2DBasics

Parameters:

transform - the geometric transform to apply on this point. Not modified.

Throws:

NotAMatrix2DException - if the rotation part of transform is not a transformation in the XY plane.

applyInverseTransform

default void applyInverseTransform(Transform transform,
                                   boolean checkIfTransformInXYplane)

Transforms this point by the inverse of the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyInverseTransform in interface Tuple2DBasics

Parameters:

transform - the geometric transform to apply on this point. Not modified.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the given transform represents a transformation in the XY plane.

Throws:

NotAMatrix2DException - if checkIfTransformInXYPlane == true and the rotation part of transform is not a transformation in the XY plane.