Package us.ihmc.euclid.tuple3D

Class Vector3D

java.lang.Object

us.ihmc.euclid.tuple3D.Vector3D

All Implemented Interfaces:

Clearable, EpsilonComparable<Vector3D>, GeometricallyComparable<Vector3D>, GeometryObject<Vector3D>, Settable<Vector3D>, Transformable, Tuple3DBasics, Tuple3DReadOnly, Vector3DBasics, Vector3DReadOnly

public class Vector3D
extends java.lang.Object
implements Vector3DBasics, GeometryObject<Vector3D>

A 3D vector represents a physical quantity with a magnitude and a direction. For instance, it can be used to represent a 3D velocity, force, or translation from one 3D point to another.

This version of 3D vector uses double precision fields to save the value of each component. It is meant for garbage free usage.

Author:

Sylvain Bertrand

Field Summary

Fields inherited from interface us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics

EPS_MAX_LENGTH

Constructor Summary

Constructors

Constructor	Description
Vector3D()	Creates a new vector and initializes it components to zero.
Vector3D(double[] vectorArray)	Creates a new vector and initializes its component x, y, z in order from the given array.
Vector3D(double x, double y, double z)	Creates a new vector and initializes it with the given components.
Vector3D(Tuple2DReadOnly tuple2DReadOnly)	Creates a new vector and initializes its x and y components to tuple2DReadOnly.
Vector3D(Tuple3DReadOnly other)	Creates a new vector and initializes it to other.

Method Summary

Modifier and Type	Method	Description
boolean	epsilonEquals(Vector3D other, double epsilon)	Tests on a per component basis if this vector is equal to the given other to an epsilon.
boolean	equals(java.lang.Object object)	Tests if the given object's class is the same as this, in which case the method returns Tuple3DReadOnly.equals(Tuple3DReadOnly), it returns false otherwise.
boolean	geometricallyEquals(Vector3D other, double epsilon)	Tests if this and other represent the same vector 3D to an epsilon.
double	getX()	Returns the value of the x-component of this vector.
double	getY()	Returns the value of the y-component of this vector.
double	getZ()	Returns the value of the z-component of this vector.
int	hashCode()	Calculates and returns a hash code value from the value of each component of this vector 3D.
void	set(Vector3D other)	Sets this vector to other.
void	setX(double x)	Sets the x-component of this vector.
void	setY(double y)	Sets the y-component of this vector.
void	setZ(double z)	Sets the z-component of this vector.
java.lang.String	toString()	Provides a String representation of this vector 3D as follows: (x, y, z).

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics

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

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly

epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getX32, getY32, getZ32

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics

applyInverseTransform, applyTransform, clipToMaxLength, cross, cross, normalize, setAndNormalize

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly

angle, dot, geometricallyEquals, length, lengthSquared

Constructor Detail

Vector3D

public Vector3D()

Creates a new vector and initializes it components to zero.

Vector3D

public Vector3D(double x,
                double y,
                double z)

Creates a new vector and initializes it with the given components.

Parameters:

x - the x-component.

y - the y-component.

z - the z-component.

Vector3D

public Vector3D(double[] vectorArray)

Creates a new vector and initializes its component x, y, z in order from the given array.

Parameters:

vectorArray - the array containing this vector's components. Not modified.

Vector3D

public Vector3D(Tuple2DReadOnly tuple2DReadOnly)

Creates a new vector and initializes its x and y components to tuple2DReadOnly.

Parameters:

tuple2DReadOnly - the tuple to copy the coordinates from. Not modified.

Vector3D

public Vector3D(Tuple3DReadOnly other)

Creates a new vector and initializes it to other.

Parameters:

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

Method Detail

set

public void set(Vector3D other)

Sets this vector to other.

Specified by:

set in interface Settable<Vector3D>

Parameters:

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

setX

public void setX(double x)

Sets the x-component of this vector.

Specified by:

setX in interface Tuple3DBasics

Parameters:

x - the x-component.

setY

public void setY(double y)

Sets the y-component of this vector.

Specified by:

setY in interface Tuple3DBasics

Parameters:

y - the y-component.

setZ

public void setZ(double z)

Sets the z-component of this vector.

Specified by:

setZ in interface Tuple3DBasics

Parameters:

z - the z-component.

getX

public double getX()

Returns the value of the x-component of this vector.

Specified by:

getX in interface Tuple3DReadOnly

Returns:

the x-component's value.

getY

public double getY()

Returns the value of the y-component of this vector.

Specified by:

getY in interface Tuple3DReadOnly

Returns:

the y-component's value.

getZ

public double getZ()

Returns the value of the z-component of this vector.

Specified by:

getZ in interface Tuple3DReadOnly

Returns:

the z-component's value.

equals

public boolean equals(java.lang.Object object)

Tests if the given object's class is the same as this, in which case the method returns Tuple3DReadOnly.equals(Tuple3DReadOnly), it returns false otherwise.

Overrides:

equals in class java.lang.Object

Parameters:

object - the object to compare against this. Not modified.

Returns:

true if object and this are exactly equal, false otherwise.

epsilonEquals

public boolean epsilonEquals(Vector3D other,
                             double epsilon)

Tests on a per component basis if this vector is equal to the given other to an epsilon.

Specified by:

epsilonEquals in interface EpsilonComparable<Vector3D>

Parameters:

other - the other vector to compare against this. Not modified.

epsilon - the tolerance to use when comparing each component.

Returns:

true if the two tuples are equal, false otherwise.

geometricallyEquals

public boolean geometricallyEquals(Vector3D other,
                                   double epsilon)

Tests if this and other represent the same vector 3D to an epsilon.

Two vectors are considered geometrically equal if the length of their difference is less than or equal to epsilon.

Note that this.geometricallyEquals(other, epsilon) == true does not necessarily imply this.epsilonEquals(other, epsilon) and vice versa.

Specified by:

geometricallyEquals in interface GeometricallyComparable<Vector3D>

Parameters:

other - the other vector 3D to compare against this. Not modified.

epsilon - the maximum length of the difference vector can be for the two vectors to be considered equal.

Returns:

true if the two vectors represent the same geometry, false otherwise.

toString

public java.lang.String toString()

Provides a String representation of this vector 3D as follows: (x, y, z).

Overrides:

toString in class java.lang.Object

Returns:

the String representing this vector 3D.

hashCode

public int hashCode()

Calculates and returns a hash code value from the value of each component of this vector 3D.

Overrides:

hashCode in class java.lang.Object

Returns:

the hash code value for this vector 3D.