Package us.ihmc.euclid.tuple2D.interfaces

Interface Tuple2DBasics

All Superinterfaces:

Clearable, Transformable, Tuple2DReadOnly

All Known Subinterfaces:

Point2DBasics, Vector2DBasics

All Known Implementing Classes:

Point2D, Point2D32, Vector2D, Vector2D32

public interface Tuple2DBasics
extends Tuple2DReadOnly, Clearable, Transformable

Write and read interface for a 2 dimensional tuple.

A tuple is an abstract geometry object holding onto the common math between a 2D point and vector.

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	absolute()	Sets each component of this tuple to its absolute value.
default void	add(double x, double y)	Adds the given (x, y)-tuple to this tuple.
default void	add(Tuple2DReadOnly other)	Adds the given tuple to this tuple.
default void	add(Tuple2DReadOnly tuple1, Tuple2DReadOnly tuple2)	Sets this tuple to the sum of the two given tuples.
default void	addX(double x)	Adds the given x to this tuple's x-component.
default void	addY(double y)	Adds the given y to this tuple's y-component.
default void	applyInverseTransform(Transform transform)	Transforms this tuple by the inverse of the given transform.
void	applyInverseTransform(Transform transform, boolean checkIfTransformInXYPlane)	Transforms this tuple by the inverse of the given transform.
default void	applyTransform(Transform transform)	Transforms this tuple by the given transform.
void	applyTransform(Transform transform, boolean checkIfTransformInXYPlane)	Transforms this tuple by the given transform.
default void	clipToMax(double max)	Clips each component of this tuple to a maximum value max.
default void	clipToMin(double min)	Clips each component of this tuple to a minimum value min.
default void	clipToMinMax(double min, double max)	Clips each component of this tuple to a minimum value min and a maximum value max.
default boolean	containsNaN()	Tests if this tuple contains a Double.NaN.
default void	interpolate(Tuple2DReadOnly other, double alpha)	Performs a linear interpolation from this tuple to other given the percentage alpha.
default void	interpolate(Tuple2DReadOnly tuple1, Tuple2DReadOnly tuple2, double alpha)	Performs a linear interpolation from tuple1 to tuple2 given the percentage alpha.
default void	negate()	Changes the sign of each component of this tuple.
default void	scale(double scalar)	Scales the components of this tuple by the given scalar.
default void	scale(double scalarX, double scalarY)	Scales independently each component of this tuple.
default void	scaleAdd(double scalar, Tuple2DReadOnly other)	Scales this tuple and adds other.
default void	scaleAdd(double scalar, Tuple2DReadOnly tuple1, Tuple2DReadOnly tuple2)	Sets this tuple to the sum of tuple1 scaled and tuple2.
default void	scaleSub(double scalar, Tuple2DReadOnly other)	Scales this tuple and subtracts other.
default void	scaleSub(double scalar, Tuple2DReadOnly tuple1, Tuple2DReadOnly tuple2)	Sets this tuple to the difference of tuple1 scaled and tuple2.
default void	set(double[] tupleArray)	Sets this tuple's components x, y in order from the given array tupleArray.
default void	set(double x, double y)	Sets this tuple's components to x and y.
default void	set(float[] tupleArray)	Sets this tuple's components x, y in order from the given array tupleArray.
default void	set(int startIndex, double[] tupleArray)	Sets this tuple's components x, y in order from the given array tupleArray.
default void	set(int startIndex, float[] tupleArray)	Sets this tuple's components x, y in order from the given array tupleArray.
default void	set(int startRow, int column, org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y in order from the given matrix starting to read from startRow at the column index column.
default void	set(int startRow, org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y in order from the given column vector starting to read from startRow.
default void	set(org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y in order from the given column vector starting to read from its first row index.
default void	set(Tuple2DReadOnly other)	Sets this tuple to other.
default void	set(Tuple3DReadOnly tuple3DReadOnly)	Sets this tuple with the x and y components of the given tuple3DReadOnly
default void	setAndAbsolute(Tuple2DReadOnly other)	Sets this tuple to other and then calls absolute().
default void	setAndClipToMax(double max, Tuple2DReadOnly other)	Sets this tuple to other and then calls clipToMax(double).
default void	setAndClipToMin(double min, Tuple2DReadOnly other)	Sets this tuple to other and then calls clipToMin(double).
default void	setAndClipToMinMax(double min, double max, Tuple2DReadOnly other)	Sets this tuple to other and then calls clipToMinMax(double, double).
default void	setAndNegate(Tuple2DReadOnly other)	Sets this tuple to other and then calls negate().
default void	setAndScale(double scalar, Tuple2DReadOnly other)	Sets this tuple to other and then scales it scale(double).
default void	setElement(int index, double value)	Selects a component of this tuple based on index and sets it to value.
default void	setToNaN()	Sets all the components of this tuple to Double.NaN.
default void	setToZero()	Sets all the components of this tuple to zero.
void	setX(double x)	Sets the x-component of this tuple.
void	setY(double y)	Sets the y-component of this tuple.
default void	sub(double x, double y)	Subtracts the given (x, y)-tuple to this tuple.
default void	sub(Tuple2DReadOnly tupleReadOnly)	Subtracts the given tuple to this tuple.
default void	sub(Tuple2DReadOnly tuple1, Tuple2DReadOnly tuple2)	Sets this tuple to the difference of the two given tuples.
default void	subX(double x)	Subtracts the given x to this tuple's x-component.
default void	subY(double y)	Subtracts the given y to this tuple's y-component.

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

setX

void setX(double x)

Sets the x-component of this tuple.

Parameters:

x - the new x-component's value.

setY

void setY(double y)

Sets the y-component of this tuple.

Parameters:

y - the new y-component's value.

setToZero

default void setToZero()

Sets all the components of this tuple to zero.

Specified by:

setToZero in interface Clearable

setToNaN

default void setToNaN()

Sets all the components of this tuple to Double.NaN.

Specified by:

setToNaN in interface Clearable

containsNaN

default boolean containsNaN()

Tests if this tuple contains a Double.NaN.

Specified by:

containsNaN in interface Clearable

Specified by:

containsNaN in interface Tuple2DReadOnly

Returns:

true if this tuple contains a Double.NaN, false otherwise.

absolute

default void absolute()

Sets each component of this tuple to its absolute value.

negate

default void negate()

Changes the sign of each component of this tuple.

clipToMax

default void clipToMax(double max)

Clips each component of this tuple to a maximum value max.

Parameters:

max - the maximum value for each component.

clipToMin

default void clipToMin(double min)

Clips each component of this tuple to a minimum value min.

Parameters:

min - the minimum value for each component.

clipToMinMax

default void clipToMinMax(double min,
                          double max)

Clips each component of this tuple to a minimum value min and a maximum value max.

Parameters:

min - the minimum value for each component.

max - the maximum value for each component.

setElement

default void setElement(int index,
                        double value)

Selects a component of this tuple based on index and sets it to value.

For an index of 0, the corresponding component is x, while for 1 it is y.

Parameters:

index - the index of the component to set.

value - the new value of the selected component.

Throws:

java.lang.IndexOutOfBoundsException - if index ∉ [0, 1].

set

default void set(double x,
                 double y)

Sets this tuple's components to x and y.

Parameters:

x - the new value for the x-component of this tuple.

y - the new value for the y-component of this tuple.

set

default void set(Tuple2DReadOnly other)

Sets this tuple to other.

Parameters:

other - the other tuple to copy the values from. Not modified.

set

default void set(Tuple3DReadOnly tuple3DReadOnly)

Sets this tuple with the x and y components of the given tuple3DReadOnly

Parameters:

tuple3DReadOnly - the tuple 3D to copy the x and y components from. Not modified.

set

default void set(double[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray.

Parameters:

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(int startIndex,
                 double[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray.

Parameters:

startIndex - the first index to start reading from in the array.

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(float[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray.

Parameters:

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(int startIndex,
                 float[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray.

Parameters:

startIndex - the first index to start reading from in the array.

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given column vector starting to read from its first row index.

Parameters:

matrix - the column vector containing the new values for this tuple's components. Not modified.

set

default void set(int startRow,
                 org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given column vector starting to read from startRow.

Parameters:

startRow - the first row index to start reading in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

set

default void set(int startRow,
                 int column,
                 org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given matrix starting to read from startRow at the column index column.

Parameters:

startRow - the first row index to start reading in the dense-matrix.

column - the column index to read in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

setAndAbsolute

default void setAndAbsolute(Tuple2DReadOnly other)

Sets this tuple to other and then calls absolute().

Parameters:

other - the other tuple to copy the values from. Not modified.

setAndNegate

default void setAndNegate(Tuple2DReadOnly other)

Sets this tuple to other and then calls negate().

Parameters:

other - the other tuple to copy the values from. Not modified.

setAndScale

default void setAndScale(double scalar,
                         Tuple2DReadOnly other)

Sets this tuple to other and then scales it scale(double).

Parameters:

scalar - the scale factor to use on this tuple.

other - the other tuple to copy the values from. Not modified.

setAndClipToMax

default void setAndClipToMax(double max,
                             Tuple2DReadOnly other)

Sets this tuple to other and then calls clipToMax(double).

Parameters:

max - the maximum value for each component of this tuple.

other - the other tuple to copy the values from. Not modified.

setAndClipToMin

default void setAndClipToMin(double min,
                             Tuple2DReadOnly other)

Sets this tuple to other and then calls clipToMin(double).

Parameters:

min - the minimum value for each component of this tuple.

other - the other tuple to copy the values from. Not modified.

setAndClipToMinMax

default void setAndClipToMinMax(double min,
                                double max,
                                Tuple2DReadOnly other)

Sets this tuple to other and then calls clipToMinMax(double, double).

Parameters:

min - the minimum value for each component of this tuple.

max - the maximum value for each component of this tuple.

other - the other tuple to copy the values from. Not modified.

addX

default void addX(double x)

Adds the given x to this tuple's x-component.

Parameters:

x - the value to add.

addY

default void addY(double y)

Adds the given y to this tuple's y-component.

Parameters:

y - the value to add.

add

default void add(double x,
                 double y)

Adds the given (x, y)-tuple to this tuple.

this = this + (x, y)

Parameters:

x - the value to add to the x-component of this tuple.

y - the value to add to the y-component of this tuple.

add

default void add(Tuple2DReadOnly other)

Adds the given tuple to this tuple.

this = this + other

Parameters:

other - the other tuple to add to this tuple.

add

default void add(Tuple2DReadOnly tuple1,
                 Tuple2DReadOnly tuple2)

Sets this tuple to the sum of the two given tuples.

this = tuple1 + tuple2

Parameters:

tuple1 - the first tuple to sum. Not modified.

tuple2 - the second tuple to sum. Not modified.

subX

default void subX(double x)

Subtracts the given x to this tuple's x-component.

Parameters:

x - the value to add.

subY

default void subY(double y)

Subtracts the given y to this tuple's y-component.

Parameters:

y - the value to add.

sub

default void sub(double x,
                 double y)

Subtracts the given (x, y)-tuple to this tuple.

this = this - (x, y)

Parameters:

x - the value to add to the x-component of this tuple.

y - the value to add to the y-component of this tuple.

sub

default void sub(Tuple2DReadOnly tupleReadOnly)

Subtracts the given tuple to this tuple.

this = this - other

Parameters:

tupleReadOnly - the other tuple to add to this tuple.

sub

default void sub(Tuple2DReadOnly tuple1,
                 Tuple2DReadOnly tuple2)

Sets this tuple to the difference of the two given tuples.

this = tuple1 - tuple2

Parameters:

tuple1 - the first tuple. Not modified.

tuple2 - the second to subtract to tuple1. Not modified.

scale

default void scale(double scalar)

Scales the components of this tuple by the given scalar.

this = scalar * this

Parameters:

scalar - the scale factor to use.

scale

default void scale(double scalarX,
                   double scalarY)

Scales independently each component of this tuple.

 / this.x \ = / scalarX * this.x \
 \ this.y /   \ scalarY * this.y /
 

Parameters:

scalarX - the scalar factor to use on the x-component of this tuple.

scalarY - the scalar factor to use on the y-component of this tuple.

scaleAdd

default void scaleAdd(double scalar,
                      Tuple2DReadOnly other)

Scales this tuple and adds other.

this = scalar * this + other

Parameters:

scalar - the scale factor to use.

other - the tuple to add to this. Not modified.

scaleAdd

default void scaleAdd(double scalar,
                      Tuple2DReadOnly tuple1,
                      Tuple2DReadOnly tuple2)

Sets this tuple to the sum of tuple1 scaled and tuple2.

this = scalar * tuple1 + tuple2

Parameters:

scalar - the scale factor to use on tuple1.

tuple1 - the first tuple of the sum. Not modified.

tuple2 - the second tuple of the sum. Not modified.

scaleSub

default void scaleSub(double scalar,
                      Tuple2DReadOnly other)

Scales this tuple and subtracts other.

this = scalar * this - other

Parameters:

scalar - the scale factor to use.

other - the tuple to subtract to this. Not modified.

scaleSub

default void scaleSub(double scalar,
                      Tuple2DReadOnly tuple1,
                      Tuple2DReadOnly tuple2)

Sets this tuple to the difference of tuple1 scaled and tuple2.

this = scalar * tuple1 - tuple2

Parameters:

scalar - the scale factor to use on tuple1.

tuple1 - the first tuple of the difference. Not modified.

tuple2 - the second tuple of the difference. Not modified.

interpolate

default void interpolate(Tuple2DReadOnly other,
                         double alpha)

Performs a linear interpolation from this tuple to other given the percentage alpha.

this = (1.0 - alpha) * this + alpha * other

Parameters:

other - the other tuple used for the interpolation. Not modified.

alpha - the percentage used for the interpolation. A value of 0 will result in not modifying this tuple, while a value of 1 is equivalent to setting this tuple to other.

interpolate

default void interpolate(Tuple2DReadOnly tuple1,
                         Tuple2DReadOnly tuple2,
                         double alpha)

Performs a linear interpolation from tuple1 to tuple2 given the percentage alpha.

this = (1.0 - alpha) * tuple1 + alpha * tuple2

Parameters:

tuple1 - the first tuple used in the interpolation. Not modified.

tuple2 - the second tuple used in the interpolation. Not modified.

alpha - the percentage to use for the interpolation. A value of 0 will result in setting this tuple to tuple1, while a value of 1 is equivalent to setting this tuple to tuple2.

applyTransform

default void applyTransform(Transform transform)

Transforms this tuple by the given transform.

Note: transforming a point differs from transforming a vector in the way that the point can be translated, whereas the vector can be only rotated and scaled.

Specified by:

applyTransform in interface Transformable

Parameters:

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

Throws:

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

applyTransform

void applyTransform(Transform transform,
                    boolean checkIfTransformInXYPlane)

Transforms this tuple by the given transform.

Note: transforming a point differs from transforming a vector in the way that the point can be translated, whereas the vector can be only rotated and scaled.

Parameters:

transform - the geometric transform to apply on this tuple. 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 tuple by the inverse of the given transform.

Note: transforming a point differs from transforming a vector in the way that the point can be translated, whereas the vector can be only rotated and scaled.

s

Specified by:

applyInverseTransform in interface Transformable

Parameters:

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

Throws:

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

applyInverseTransform

void applyInverseTransform(Transform transform,
                           boolean checkIfTransformInXYPlane)

Transforms this tuple by the inverse of the given transform.

Note: transforming a point differs from transforming a vector in the way that the point can be translated, whereas the vector can be only rotated and scaled.

Parameters:

transform - the geometric transform to apply on this tuple. 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.