Tuple3DBasics

All Superinterfaces:

Clearable, Transformable, Tuple3DReadOnly

All Known Subinterfaces:

Point3DBasics, Vector3DBasics

All Known Implementing Classes:

Point3D, Point3D32, Vector3D, Vector3D32
```
public interface Tuple3DBasics
extends Tuple3DReadOnly, Clearable, Transformable
```
Write and read interface for a 3 dimensional tuple.
A tuple is an abstract geometry object holding onto the common math between a 3D 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

All Methods Instance Methods Abstract Methods Default Methods
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, double z)`	Adds the given (`x`, `y`, `z`)-tuple to this tuple.
`default void`	`add(Tuple3DReadOnly other)`	Adds the given tuple to this tuple.
`default void`	`add(Tuple3DReadOnly tuple1, Tuple3DReadOnly 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`	`addZ(double z)`	Adds the given `z` to this tuple's z-component.
`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(Tuple3DReadOnly other, double alpha)`	Performs a linear interpolation from this tuple to `other` given the percentage `alpha`.
`default void`	`interpolate(Tuple3DReadOnly tuple1, Tuple3DReadOnly 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, double scalarZ)`	Scales independently each component of this tuple.
`default void`	`scaleAdd(double scalar, Tuple3DReadOnly other)`	Scales this tuple and adds `other`.
`default void`	`scaleAdd(double scalar, Tuple3DReadOnly tuple1, Tuple3DReadOnly tuple2)`	Sets this tuple to the sum of `tuple1` scaled and `tuple2`.
`default void`	`scaleSub(double scalar, Tuple3DReadOnly other)`	Scales this tuple and subtracts `other`.
`default void`	`scaleSub(double scalar, Tuple3DReadOnly tuple1, Tuple3DReadOnly tuple2)`	Sets this tuple to the difference of `tuple1` scaled and `tuple2`.
`default void`	`set(double[] tupleArray)`	Sets this tuple's components `x`, `y`, `z` in order from the given array `tupleArray`.
`default void`	`set(double x, double y, double z)`	Sets this tuple's components to `x`, `y`, and `z`.
`default void`	`set(float[] tupleArray)`	Sets this tuple's components `x`, `y`, `z` in order from the given array `tupleArray`.
`default void`	`set(int startIndex, double[] tupleArray)`	Sets this tuple's components `x`, `y`, `z` in order from the given array `tupleArray`.
`default void`	`set(int startIndex, float[] tupleArray)`	Sets this tuple's components `x`, `y`, `z` 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`, `z` 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`, `z` 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`, `z` in order from the given column vector starting to read from its first row index.
`default void`	`set(Tuple2DReadOnly tuple2DReadOnly)`	Sets the x and y components of this tuple with the x and y components of the given `tuple2DReadOnly`.
`default void`	`set(Tuple2DReadOnly tuple2DReadOnly, double z)`	Sets the x and y components of this tuple with the x and y components of the given `tuple2DReadOnly` and the z-component to the given `z`.
`default void`	`set(Tuple3DReadOnly tupleReadOnly)`	Sets this tuple to `tupleReadOnly`.
`default void`	`setAndAbsolute(Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `absolute()`.
`default void`	`setAndClipToMax(double max, Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `clipToMax(double)`.
`default void`	`setAndClipToMin(double min, Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `clipToMin(double)`.
`default void`	`setAndClipToMinMax(double min, double max, Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `clipToMinMax(double, double)`.
`default void`	`setAndNegate(Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `negate()`.
`default void`	`setAndScale(double scalar, Tuple3DReadOnly other)`	Sets this tuple to `other` and then calls `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.
`void`	`setZ(double z)`	Sets the z-component of this tuple.
`default void`	`sub(double x, double y, double z)`	Subtracts the given (`x`, `y`, `z`)-tuple to this tuple.
`default void`	`sub(Tuple3DReadOnly other)`	Subtracts the given tuple to this tuple.
`default void`	`sub(Tuple3DReadOnly tuple1, Tuple3DReadOnly 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.
`default void`	`subZ(double z)`	Subtracts the given `z` to this tuple's z-component.

Methods inherited from interface us.ihmc.euclid.interfaces.Transformable
applyInverseTransform, applyTransform

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly
epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getX, getX32, getY, getY32, getZ, getZ32

- 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.
  - setZ
```
void setZ(double z)
```
    Sets the z-component of this tuple.
    
    Parameters:
    
    z - the new z-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 Tuple3DReadOnly
    
    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, 1 it is y, 2 it is z.
    
    Parameters:
    
    index - the index of the component to set.
    
    value - the new value of the selected component.
    
    Throws:
    
    java.lang.IndexOutOfBoundsException - if index ∉ [0, 2].
  - set
```
default void set(double x,
                 double y,
                 double z)
```
    Sets this tuple's components to x, y, and z.
    
    Parameters:
    
    x - the new value for the x-component of this tuple.
    
    y - the new value for the y-component of this tuple.
    
    z - the new value for the z-component of this tuple.
  - set
```
default void set(Tuple2DReadOnly tuple2DReadOnly)
```
    Sets the x and y components of this tuple with the x and y components of the given tuple2DReadOnly.
    The z component remains unchanged.
    
    Parameters:
    
    tuple2DReadOnly - the tuple to copy the values from. Not modified.
  - set
```
default void set(Tuple2DReadOnly tuple2DReadOnly,
                 double z)
```
    Sets the x and y components of this tuple with the x and y components of the given tuple2DReadOnly and the z-component to the given z.
    
    Parameters:
    
    tuple2DReadOnly - the tuple to copy the values from. Not modified.
    
    z - the new z-coordinate for this tuple.
  - set
```
default void set(Tuple3DReadOnly tupleReadOnly)
```
    Sets this tuple to tupleReadOnly.
    
    Parameters:
    
    tupleReadOnly - the other tuple to copy the values from. Not modified.
  - set
```
default void set(double[] tupleArray)
```
    Sets this tuple's components x, y, z 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, z 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, z 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, z 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, z 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, z 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, z 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(Tuple3DReadOnly 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(Tuple3DReadOnly 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,
                         Tuple3DReadOnly other)
```
    Sets this tuple to other and then calls 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,
                             Tuple3DReadOnly 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,
                             Tuple3DReadOnly 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,
                                Tuple3DReadOnly 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.
  - addZ
```
default void addZ(double z)
```
    Adds the given z to this tuple's z-component.
    
    Parameters:
    
    z - the value to add.
  - add
```
default void add(double x,
                 double y,
                 double z)
```
    Adds the given (x, y, z)-tuple to this tuple.
    this = this + (x, y, z)
    
    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.
    
    z - the value to add to the z-component of this tuple.
  - add
```
default void add(Tuple3DReadOnly other)
```
    Adds the given tuple to this tuple.
    this = this + other
    
    Parameters:
    
    other - the other tuple to add to this tuple. Not modified.
  - add
```
default void add(Tuple3DReadOnly tuple1,
                 Tuple3DReadOnly 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.
  - subZ
```
default void subZ(double z)
```
    Subtracts the given z to this tuple's z-component.
    
    Parameters:
    
    z - the value to add.
  - sub
```
default void sub(double x,
                 double y,
                 double z)
```
    Subtracts the given (x, y, z)-tuple to this tuple.
    this = this - (x, y, z)
    
    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.
    
    z - the value to add to the z-component of this tuple.
  - sub
```
default void sub(Tuple3DReadOnly other)
```
    Subtracts the given tuple to this tuple.
    this = this - other
    
    Parameters:
    
    other - the other tuple to subtract to this tuple.
  - sub
```
default void sub(Tuple3DReadOnly tuple1,
                 Tuple3DReadOnly 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 tuple 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,
                   double scalarZ)
```
    Scales independently each component of this tuple.
```
 / this.x \   / scalarX * this.x \
 | this.y | = | scalarY * this.y |
 \ this.z /   \ scalarZ * this.z /
 
```
    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.
    
    scalarZ - the scalar factor to use on the z-component of this tuple.
  - scaleAdd
```
default void scaleAdd(double scalar,
                      Tuple3DReadOnly 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,
                      Tuple3DReadOnly tuple1,
                      Tuple3DReadOnly 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,
                      Tuple3DReadOnly 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,
                      Tuple3DReadOnly tuple1,
                      Tuple3DReadOnly 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(Tuple3DReadOnly 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(Tuple3DReadOnly tuple1,
                         Tuple3DReadOnly 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.

Interface Tuple3DBasics

Method Summary

Methods inherited from interface us.ihmc.euclid.interfaces.Transformable

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

Method Detail

setX

setY

setZ

setToZero

setToNaN

containsNaN

absolute

negate

clipToMax

clipToMin

clipToMinMax

setElement

set

set

set

set

set

set

set

set

set

set

set

setAndAbsolute

setAndNegate

setAndScale

setAndClipToMax

setAndClipToMin

setAndClipToMinMax

addX

addY

addZ

add

add

add

subX

subY

subZ

sub

sub

sub

scale

scale

scaleAdd

scaleAdd

scaleSub

scaleSub

interpolate

interpolate