Package us.ihmc.euclid.tuple4D

Class Vector4D32

java.lang.Object

us.ihmc.euclid.tuple4D.Vector4D32

All Implemented Interfaces:

Clearable, EpsilonComparable<Vector4D32>, GeometricallyComparable<Vector4D32>, GeometryObject<Vector4D32>, Settable<Vector4D32>, Transformable, Tuple4DBasics, Tuple4DReadOnly, Vector4DBasics, Vector4DReadOnly

public class Vector4D32
extends java.lang.Object
implements Vector4DBasics, GeometryObject<Vector4D32>

Class used to represent generic quaternions.

This version of 4D vector uses double precision fields to save the value of each component. It is meant for garbage free usage and for situations where heap memory is limited. When memory is not a constraint, the use of Vector2D32 is preferable.

Author:

Sylvain Bertrand

Constructor Summary

Constructors

Constructor	Description
Vector4D32()	Creates a new vector and initializes it components to zero.
Vector4D32(float[] vectorArray)	Creates a new vector and initializes its component x, y, z, s in order from the given array.
Vector4D32(float x, float y, float z, float s)	Creates a new vector and initializes it with the given components.
Vector4D32(Point3DReadOnly point3D)	Creates a new vector and initializes it to represent the given 3D point
Vector4D32(Vector3DReadOnly vector3D)	Creates a new vector and initializes it to represent the given 3D vector
Vector4D32(Tuple4DReadOnly other)	Creates a new vector and initializes it to other

Method Summary

Modifier and Type	Method	Description
boolean	epsilonEquals(Vector4D32 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 Tuple4DReadOnly.equals(Tuple4DReadOnly), it returns false otherwise.
boolean	geometricallyEquals(Vector4D32 other, double epsilon)	Tests if this and other represent the same vector 4D to an epsilon.
double	getS()	Returns the s-component of this tuple.
float	getS32()	Returns the s-component of this tuple.
double	getX()	Returns the x-component of this tuple.
float	getX32()	Returns the x-component of this tuple.
double	getY()	Returns the y-component of this tuple.
float	getY32()	Returns the y-component of this tuple.
double	getZ()	Returns the z-component of this tuple.
float	getZ32()	Returns the z-component of this tuple.
int	hashCode()	Calculates and returns a hash code value from the value of each component of this 4D vector.
void	set(Vector4D32 other)	Sets this vector to other.
void	setS(double s)	Sets the s-component of this vector.
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 4D vector as follows: (x, y, z, s).

Methods inherited from class java.lang.Object

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

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Tuple4DBasics

absolute, containsNaN, negate, set, set, set, set, set, set, set, set, setAndAbsolute, setAndNegate, setAndNormalize, setToNaN

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly

dot, epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, norm, normSquared

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics

add, add, add, addS, addX, addY, addZ, applyInverseTransform, applyTransform, clipToMax, clipToMin, clipToMinMax, interpolate, interpolate, normalize, scale, scale, scaleAdd, scaleAdd, scaleSub, scaleSub, set, set, set, setAndClipToMax, setAndClipToMin, setAndClipToMinMax, setAndScale, setElement, setToZero, sub, sub, sub, subS, subX, subY, subZ

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly

geometricallyEquals

Constructor Detail

Vector4D32

public Vector4D32()

Creates a new vector and initializes it components to zero.

Vector4D32

public Vector4D32(float x,
                  float y,
                  float z,
                  float s)

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

Parameters:

x - the x-component.

y - the y-component.

z - the z-component.

s - the s-component.

Vector4D32

public Vector4D32(float[] vectorArray)

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

Parameters:

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

Vector4D32

public Vector4D32(Tuple4DReadOnly other)

Creates a new vector and initializes it to other

Parameters:

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

Vector4D32

public Vector4D32(Vector3DReadOnly vector3D)

Creates a new vector and initializes it to represent the given 3D vector

this.xyz = vector3D
this.s = 0.0

Parameters:

vector3D - the 3D vector used to set this 4D vector. Not modified.

Vector4D32

public Vector4D32(Point3DReadOnly point3D)

Creates a new vector and initializes it to represent the given 3D point

this.xyz = point3D
this.s = 1.0

Parameters:

point3D - the 3D point used to set this 4D vector. Not modified.

Method Detail

set

public void set(Vector4D32 other)

Sets this vector to other.

Specified by:

set in interface Settable<Vector4D32>

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 Vector4DBasics

Parameters:

x - the new x-component's value.

setY

public void setY(double y)

Sets the y-component of this vector.

Specified by:

setY in interface Vector4DBasics

Parameters:

y - the new y-component's value.

setZ

public void setZ(double z)

Sets the z-component of this vector.

Specified by:

setZ in interface Vector4DBasics

Parameters:

z - the new z-component's value.

setS

public void setS(double s)

Sets the s-component of this vector.

Specified by:

setS in interface Vector4DBasics

Parameters:

s - the new s-component's value.

getX

public double getX()

Returns the x-component of this tuple.

Specified by:

getX in interface Tuple4DReadOnly

Returns:

the x-component.

getY

public double getY()

Returns the y-component of this tuple.

Specified by:

getY in interface Tuple4DReadOnly

Returns:

the y-component.

getZ

public double getZ()

Returns the z-component of this tuple.

Specified by:

getZ in interface Tuple4DReadOnly

Returns:

the z-component.

getS

public double getS()

Returns the s-component of this tuple.

Specified by:

getS in interface Tuple4DReadOnly

Returns:

the s-component.

getX32

public float getX32()

Returns the x-component of this tuple.

Specified by:

getX32 in interface Tuple4DReadOnly

Returns:

the x-component.

getY32

public float getY32()

Returns the y-component of this tuple.

Specified by:

getY32 in interface Tuple4DReadOnly

Returns:

the y-component.

getZ32

public float getZ32()

Returns the z-component of this tuple.

Specified by:

getZ32 in interface Tuple4DReadOnly

Returns:

the z-component.

getS32

public float getS32()

Returns the s-component of this tuple.

Specified by:

getS32 in interface Tuple4DReadOnly

Returns:

the s-component.

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 Tuple4DReadOnly.equals(Tuple4DReadOnly), 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(Vector4D32 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<Vector4D32>

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(Vector4D32 other,
                                   double epsilon)

Tests if this and other represent the same vector 4D 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<Vector4D32>

Parameters:

other - the other vector 4D 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 4D vector as follows: (x, y, z, s).

Overrides:

toString in class java.lang.Object

Returns:

the String representing this 4D vector.

hashCode

public int hashCode()

Calculates and returns a hash code value from the value of each component of this 4D vector.

Overrides:

hashCode in class java.lang.Object

Returns:

the hash code value for this 4D vector.